Release update 2026-11-05: new sessions, instructions, annotations (part 198)

.gitattributes

@@ -44847,3 +44847,18 @@ actions/locomanipulation/LM24/session_026/raw/sensors/robowrist_imu_left.db filt
 actions/locomanipulation/LM24/session_026/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM24/session_026/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM24/session_026/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM24/session_027/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM24/session_027/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM24/session_027/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM24/session_027/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM24/session_027/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM24/session_027/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM24/session_027/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM24/session_027/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM24/session_027/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM24/session_028/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM24/session_028/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM24/session_028/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM24/session_028/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM24/session_028/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM24/session_028/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text

actions/locomanipulation/LM24/session_027/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45456df356c52bdf04d99b871a8d0fae83605e3243290c527bd7546932920084
+size 966054

actions/locomanipulation/LM24/session_027/meta.json

@@ -0,0 +1,560 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261027/LM24/20261027_084221_session24",
+ "session_id": "20261027_084221_session24",
+ "primitive": "LM24",
+ "batch": "20261027",
+ "participant": "lvaoshan",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e3296774a321bb51",
+  "left": "39042f5fb5da3b12",
+  "right": "65a3481473d6e2a0"
+ },
+ "generated_at_utc": "2026-10-28T19:52:03.708237+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": 110.025,
+  "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": -0.088935,
+  "rate": 0.0,
+  "global_lag_s": -0.09,
+  "peak_corr": 0.9973,
+  "reference_imu_first_sample_s": 2150.794474014,
+  "windows": {
+   "n_windows": 10,
+   "window_corr_median": 0.9977418811249764,
+   "drift_ppm": 5.50785692868628,
+   "drift_se_ppm": 2.0823596823507033,
+   "drift_ms_over_take": 0.6059560597709689,
+   "lag_scatter_ms": 0.1691717003168265,
+   "lag_range_ms": 0.7016940050662557
+  }
+ },
+ "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": "e3296774a321bb51",
+  "status": "ok",
+  "date": "2026-10-21"
+ },
+ "streams": {
+  "sensors": {
+   "imu_head_right": {
+    "n_acc": 22225,
+    "n_gyro": 22218,
+    "t_start": -0.10084090547608998,
+    "t_end": 110.20988403752388
+   },
+   "imu_head_left": {
+    "n_acc": 22119,
+    "n_gyro": 22112,
+    "t_start": 0.00672459452387425,
+    "t_end": 110.37028088752375
+   },
+   "imu_wrist_right": {
+    "n_acc": 22267,
+    "n_gyro": 22266,
+    "t_start": -0.7788060264760328,
+    "t_end": 108.97730130152384
+   },
+   "imu_wrist_left": {
+    "n_acc": 22143,
+    "n_gyro": 22154,
+    "t_start": -0.7514531464761798,
+    "t_end": 108.97371967252373
+   },
+   "mag_head": {
+    "n": 11045,
+    "t_start": 0.09098476152401286,
+    "t_end": 110.53098243952407
+   },
+   "mag_wrist_right": {
+    "n": 10974,
+    "t_start": -0.7596182644760314,
+    "t_end": 108.97089356352406
+   },
+   "mag_wrist_left": {
+    "n": 10972,
+    "t_start": -0.739811846476115,
+    "t_end": 108.97052056952414
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 2150.920776,
+    "frames": 3300,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0025546514432425653,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.039921262967326177,
+    "t_end": 110.00653226296716,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 2150.92075,
+    "frames": 3300,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002366886077403108,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.039707497601356,
+    "t_end": 110.00630749760155,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 2150.920768,
+    "frames": 3300,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0026728712083183277,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.040031482732118595,
+    "t_end": 110.00663148273232,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 2150.920784,
+    "frames": 3300,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002595594493655556,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.03997020601771378,
+    "t_end": 110.00659220601763,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 2150.920758,
+    "frames": 3291,
+    "pts_gaps": 9,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002394386090989767,
+    "gap_test": {
+     "pts": {
+      "offset_ms": 3.0,
+      "corr": 0.933,
+      "err_ms": 0.6
+     },
+     "nominal": {
+      "offset_ms": 150.0,
+      "corr": 0.918,
+      "err_ms": 147.6
+     }
+    },
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.03974299761519301,
+    "t_end": 110.02308699761541,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 2150.920737,
+    "frames": 3300,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002315656053021164,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.03964326757666509,
+    "t_end": 110.00623226757678,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 2150.155633,
+    "frames": 3291,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": -0.7277763884762147,
+    "t_end": 108.93921561152372,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 2150.171438,
+    "frames": 3290,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": -0.7119713884762144,
+    "t_end": 108.92188261152394,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-LM24-S03-lvaoshan-01p1-1.mp4",
+    "frames": 3301,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 110.0
+   }
+  }
+ },
+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
+ "rig_tracker": {
+  "definition": "e3296774a321bb51/20261027-afternoon/labels-235140/session-0345937d334cc5e8",
+  "R_tracker0_imu0": [
+   [
+    -0.56730312,
+    0.00598875,
+    -0.82348728
+   ],
+   [
+    0.82328888,
+    -0.01899743,
+    -0.5673046
+   ],
+   [
+    -0.01904159,
+    -0.9998016,
+    0.00584683
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   -0.17923412761692456,
+   0.009416134158519171,
+   0.015270773903678484
+  ],
+  "rig_check": {
+   "gyro_samples": 5905,
+   "gyro_max_deg": 2.5,
+   "status": "video_solve",
+   "dropped_marker": null,
+   "gyro_deg": 2.452,
+   "video_solve": {
+    "status": "ok",
+    "reason": "",
+    "reprojection_px": 3.337,
+    "n_assoc": 505,
+    "gyro_deg": 2.452
+   }
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-28T23:23:31.627943+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": 37.6,
+   "headtop_p95_mm": 1691.6
+  },
+  "gravity_check": {
+   "static_samples": 1247,
+   "g_world_mean_m_s2": [
+    0.0717,
+    0.0259,
+    9.7772
+   ],
+   "tilt_from_z_deg": 0.447,
+   "tilt_from_z_deg_before_levelling": 0.327,
+   "magnitude_m_s2": 9.7775
+  },
+  "rig_tracker_definition": "e3296774a321bb51/20261027-afternoon/labels-235140/session-0345937d334cc5e8",
+  "rig_check": {
+   "status": "video_solve",
+   "dropped_marker": null,
+   "gyro_deg": 2.452
+  },
+  "camera_pose_source": "T_tracker0_imu0 @ inv(T_cam_imu)",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-29T07:09:14.133208+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": [
+      0.06982382386922836,
+      0.01162145845592022,
+      0.04281897097826004
+     ],
+     "LHandOut": [
+      0.06746040284633636,
+      0.015279018320143223,
+      -0.010793609544634819
+     ],
+     "LWristIn": [
+      -0.0047224597074091434,
+      0.002389797242358327,
+      0.034297700971364975
+     ],
+     "LWristOut": [
+      0.0022129113785922527,
+      0.018288109451532364,
+      -0.006147973705083132
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.05188785493373871,
+      0.008148478344082832,
+      0.04351754114031792
+     ],
+     "RHandOut": [
+      -0.05707381293177605,
+      0.03572229668498039,
+      0.0038725570775568485
+     ],
+     "RWristOut": [
+      0.006129569374024868,
+      0.032667357474565506,
+      -0.005989157594740391
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 6.02,
+   "p95_frame": 13.92
+  },
+  "worst_markers": [
+   "STRN 17mm",
+   "CLAV 16mm",
+   "WaistRFront 15mm",
+   "WaistRSide 12mm",
+   "WaistLSide 12mm"
+  ],
+  "valid_fraction": 0.9994,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 10.3,
+    "p5": 2.8
+   },
+   "frames_checked": 440,
+   "stature_mm": 1659.4
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 14.2
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 20.18,
+    "Q_rotvec": [
+     0.19078,
+     -0.25149,
+     0.15605
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 37.8,
+    "opposite_sign_bend_deg": 175.6,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 2.44,
+    "hand_vs_marker_frame_deg": {
+     "before": 20.34,
+     "after": 2.44
+    },
+    "markers_on_wrist": [
+     "LWristIn",
+     "LWristOut",
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 15.26,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -3.7,
+       11.1
+      ]
+     },
+     "wrist_total_deg_median_after": 36.8,
+     "markers_on_forearm": [
+      "LForearm"
+     ]
+    },
+    "frames_used": 1320
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 51.09,
+    "Q_rotvec": [
+     0.70512,
+     0.48924,
+     -0.2418
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 87.9,
+    "opposite_sign_bend_deg": 112.3,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 6.61,
+    "hand_vs_marker_frame_deg": {
+     "before": 49.59,
+     "after": 6.61
+    },
+    "markers_on_wrist": [
+     "RWristOut",
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -80.92,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -5.3,
+       2.6
+      ]
+     },
+     "wrist_total_deg_median_after": 36.8,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn"
+     ]
+    },
+    "frames_used": 1320
+   },
+   "generated_at_utc": "2026-10-29T07:09:17.013871+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/locomanipulation/LM24/session_027",
+  "family": "locomanipulation",
+  "primitive": "LM24",
+  "source_session": "20261027/LM24/20261027_084221_session24"
+ },
+ "task": {
+  "primitive": "LM24",
+  "instruction": "Carry the box through the gap between the panels without touching either side, then set it down and bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+ },
+ "objects": [
+  {
+   "name": "BigBox2",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "CcGreen",
+   "object_type": "CcGreen",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "CcRed",
+   "object_type": "CcRed",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
+}

actions/locomanipulation/LM24/session_027/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4ae3a3c4db76baedb7f078e379395c81f1aa92af0127f803cd6b1059e1c10c4
+size 993694

actions/locomanipulation/LM24/session_027/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:699b3daa5eb28d12bb4e99fc131c55601c8d81f9e057d5a605e3fd5093cda5b5
+size 7598010

actions/locomanipulation/LM24/session_027/motions/object_markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:987bcb25579fb9b3a261e0ab400df33a2e81bdd79ef9ff21663849bbf48743fb
+size 1491644

actions/locomanipulation/LM24/session_027/motions/objects.json

@@ -0,0 +1,80 @@
+{
+ "session": "20261027/LM24/20261027_084221_session24",
+ "generated_at_utc": "2026-11-04T19:54:40.715279+00:00",
+ "generated_by": "scripts/export_objects.py",
+ "frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)",
+ "grid": "body grid (smplx.npz t / frame_index)",
+ "held_by": "from mocap hands",
+ "instances": [
+  {
+   "name": "BigBox2",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 98.28,
+   "verified_pct": 98.28,
+   "moving_pct": 67.64,
+   "vision_source": null
+  },
+  {
+   "name": "CcGreen",
+   "object_type": "CcGreen",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/CcGreen/ccgreen.ply",
+   "calibration": {
+    "instance": "CcGreen",
+    "rms_mm": 2.61
+   },
+   "valid_pct": 99.99,
+   "verified_pct": 99.99,
+   "moving_pct": 0.0,
+   "vision_source": null
+  },
+  {
+   "name": "CcRed",
+   "object_type": "CcRed",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 99.99,
+   "verified_pct": 99.99,
+   "moving_pct": 0.0,
+   "vision_source": null
+  }
+ ],
+ "absent": [],
+ "object_list": {
+  "status": "corrected",
+  "notes": [],
+  "declared": [
+   "BigBox2",
+   "CcGreen0",
+   "CcRed0"
+  ],
+  "listed": [
+   {
+    "name": "BigBox2",
+    "object": "BigBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "CcGreen",
+    "object": "CcGreen",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "CcRed",
+    "object": "CcRed",
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/locomanipulation/LM24/session_027/motions/objects.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d704d4881a701d45d641595f9ef3a8551cb30f2c5327d978deeeffbe53453ce
+size 1594828

actions/locomanipulation/LM24/session_027/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffaa9fea7e5485d41ab8d86b1e086f3429ac25175353510e331240b52fdd1edd
+size 7650557

actions/locomanipulation/LM24/session_027/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc7d2a9841533521be76d68e6d963163837026d48678f5cfa798898c5ea29fbd
+size 5091063

actions/locomanipulation/LM24/session_027/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56340fda342fefad5420a2f60f464932d45bf234303ec7d8dfcc750c46c97c07
+size 21206478

actions/locomanipulation/LM24/session_027/raw/manifest.json

@@ -0,0 +1,330 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-10-27T17:48:44.939001+00:00",
+  "primitive_id": "LM24",
+  "session_id": "20261027_084221_session24",
+  "upload_batch_id": "20261027",
+  "dataset_path": "EgoMotionActions/20261027/LM24/20261027_084221_session24",
+  "segment": "auto/all",
+  "duration_s": 109.966611,
+  "device_ids": {
+    "main": "e3296774a321bb51",
+    "left": "39042f5fb5da3b12",
+    "right": "65a3481473d6e2a0"
+  },
+  "mocap_rigid_names": [
+    "BigBox2",
+    "Body0",
+    "CcGreen",
+    "CcRed",
+    "Tracker0"
+  ],
+  "objects": [
+    "BigBox2",
+    "CcGreen0",
+    "CcRed0"
+  ],
+  "options": {
+    "raw_video": true,
+    "proxy_height": 540,
+    "proxy_crf": 28,
+    "proxy_bitrate": "1400k",
+    "mocap_selection": "explicit",
+    "mocap_files": [
+      "mocap-LM24-S03-lvaoshan-01p1/mocap-LM24-S03-lvaoshan-01p1-1.mp4",
+      "mocap-LM24-S03-lvaoshan-01p1/mocap-LM24-S03-lvaoshan-01p1-BigBox2.csv",
+      "mocap-LM24-S03-lvaoshan-01p1/mocap-LM24-S03-lvaoshan-01p1-BigBox2.trc",
+      "mocap-LM24-S03-lvaoshan-01p1/mocap-LM24-S03-lvaoshan-01p1-Body0.bvh",
+      "mocap-LM24-S03-lvaoshan-01p1/mocap-LM24-S03-lvaoshan-01p1-Body0.csv",
+      "mocap-LM24-S03-lvaoshan-01p1/mocap-LM24-S03-lvaoshan-01p1-Body0.trc",
+      "mocap-LM24-S03-lvaoshan-01p1/mocap-LM24-S03-lvaoshan-01p1-CcGreen.csv",
+      "mocap-LM24-S03-lvaoshan-01p1/mocap-LM24-S03-lvaoshan-01p1-CcGreen.trc",
+      "mocap-LM24-S03-lvaoshan-01p1/mocap-LM24-S03-lvaoshan-01p1-CcRed.csv",
+      "mocap-LM24-S03-lvaoshan-01p1/mocap-LM24-S03-lvaoshan-01p1-CcRed.trc",
+      "mocap-LM24-S03-lvaoshan-01p1/mocap-LM24-S03-lvaoshan-01p1-Tracker0.csv",
+      "mocap-LM24-S03-lvaoshan-01p1/mocap-LM24-S03-lvaoshan-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": 21206478,
+      "packaged_bytes": 21206478,
+      "compressed_video": false,
+      "sha256": "56340fda342fefad5420a2f60f464932d45bf234303ec7d8dfcc750c46c97c07"
+    },
+    {
+      "source": "mocap-LM24-S03-lvaoshan-01p1/mocap-LM24-S03-lvaoshan-01p1-1.mp4",
+      "packaged_as": "mocap/mocap-LM24-S03-lvaoshan-01p1-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 58293436,
+      "packaged_bytes": 58293436,
+      "compressed_video": false,
+      "sha256": "967de4b7d99f786929a1865347e5ab65e66ea5115b78378f15389fee22ca9b73"
+    },
+    {
+      "source": "mocap-LM24-S03-lvaoshan-01p1/mocap-LM24-S03-lvaoshan-01p1-BigBox2.csv",
+      "packaged_as": "mocap/mocap-LM24-S03-lvaoshan-01p1-BigBox2.csv",
+      "kind": "data",
+      "original_bytes": 4141928,
+      "packaged_bytes": 4141928,
+      "compressed_video": false,
+      "sha256": "d86fa790099c24a8b9f417aa934851b1523fd7384225b03cec240775703fb408"
+    },
+    {
+      "source": "mocap-LM24-S03-lvaoshan-01p1/mocap-LM24-S03-lvaoshan-01p1-BigBox2.trc",
+      "packaged_as": "mocap/mocap-LM24-S03-lvaoshan-01p1-BigBox2.trc",
+      "kind": "data",
+      "original_bytes": 3954855,
+      "packaged_bytes": 3954855,
+      "compressed_video": false,
+      "sha256": "d5bc12f4aee3f1225a9732efc943efb398da196a8314ee3c13f2ec821893cc0f"
+    },
+    {
+      "source": "mocap-LM24-S03-lvaoshan-01p1/mocap-LM24-S03-lvaoshan-01p1-Body0.bvh",
+      "packaged_as": "mocap/mocap-LM24-S03-lvaoshan-01p1-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 7849050,
+      "packaged_bytes": 7849050,
+      "compressed_video": false,
+      "sha256": "c07cf788ff9bedfa1a666b5333fada299cec3848d9e33c77230c1690d8478695"
+    },
+    {
+      "source": "mocap-LM24-S03-lvaoshan-01p1/mocap-LM24-S03-lvaoshan-01p1-Body0.csv",
+      "packaged_as": "mocap/mocap-LM24-S03-lvaoshan-01p1-Body0.csv",
+      "kind": "data",
+      "original_bytes": 110054545,
+      "packaged_bytes": 110054545,
+      "compressed_video": false,
+      "sha256": "6b9dc2bc498c91747e69d6b0023e1569945465e191846c3c571d6823752b36e4"
+    },
+    {
+      "source": "mocap-LM24-S03-lvaoshan-01p1/mocap-LM24-S03-lvaoshan-01p1-Body0.trc",
+      "packaged_as": "mocap/mocap-LM24-S03-lvaoshan-01p1-Body0.trc",
+      "kind": "data",
+      "original_bytes": 24340028,
+      "packaged_bytes": 24340028,
+      "compressed_video": false,
+      "sha256": "efc586241bbf391020720264057649c044c8e599f0131281ec6428ed98798550"
+    },
+    {
+      "source": "mocap-LM24-S03-lvaoshan-01p1/mocap-LM24-S03-lvaoshan-01p1-CcGreen.csv",
+      "packaged_as": "mocap/mocap-LM24-S03-lvaoshan-01p1-CcGreen.csv",
+      "kind": "data",
+      "original_bytes": 4076357,
+      "packaged_bytes": 4076357,
+      "compressed_video": false,
+      "sha256": "280157934891f41664861a3307238a6dfa4dfdda3271e24934172e398f3836f4"
+    },
+    {
+      "source": "mocap-LM24-S03-lvaoshan-01p1/mocap-LM24-S03-lvaoshan-01p1-CcGreen.trc",
+      "packaged_as": "mocap/mocap-LM24-S03-lvaoshan-01p1-CcGreen.trc",
+      "kind": "data",
+      "original_bytes": 3963795,
+      "packaged_bytes": 3963795,
+      "compressed_video": false,
+      "sha256": "ce2c14f7603c65b9ffaafb855a70a6d5135d33826b9a91bc2b5605d375f9451d"
+    },
+    {
+      "source": "mocap-LM24-S03-lvaoshan-01p1/mocap-LM24-S03-lvaoshan-01p1-CcRed.csv",
+      "packaged_as": "mocap/mocap-LM24-S03-lvaoshan-01p1-CcRed.csv",
+      "kind": "data",
+      "original_bytes": 4089723,
+      "packaged_bytes": 4089723,
+      "compressed_video": false,
+      "sha256": "3052ae3a1ca75ca5316394009e111a31adc7b7069b3857e5e7203c9d2c259959"
+    },
+    {
+      "source": "mocap-LM24-S03-lvaoshan-01p1/mocap-LM24-S03-lvaoshan-01p1-CcRed.trc",
+      "packaged_as": "mocap/mocap-LM24-S03-lvaoshan-01p1-CcRed.trc",
+      "kind": "data",
+      "original_bytes": 3832132,
+      "packaged_bytes": 3832132,
+      "compressed_video": false,
+      "sha256": "c4b6df819789690a759563fee36b9f390e1f3bec27e5f7ea64377735528a95b7"
+    },
+    {
+      "source": "mocap-LM24-S03-lvaoshan-01p1/mocap-LM24-S03-lvaoshan-01p1-Tracker0.csv",
+      "packaged_as": "mocap/mocap-LM24-S03-lvaoshan-01p1-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 4176875,
+      "packaged_bytes": 4176875,
+      "compressed_video": false,
+      "sha256": "1213520e9dfd0543707e531e2175873ddd0042def616b90aec5bfc670134d25d"
+    },
+    {
+      "source": "mocap-LM24-S03-lvaoshan-01p1/mocap-LM24-S03-lvaoshan-01p1-Tracker0.trc",
+      "packaged_as": "mocap/mocap-LM24-S03-lvaoshan-01p1-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 4018999,
+      "packaged_bytes": 4018999,
+      "compressed_video": false,
+      "sha256": "4e602299de5fd8080de198d7f8f01ca96c63476c072c2ceb5527fd079b8469b3"
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1138688,
+      "packaged_bytes": 1138688,
+      "compressed_video": false,
+      "sha256": "afcabd8ce4f4210d9f4b531f3c28150c57fab7a665913f34dea54e556bd803a5"
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1101824,
+      "packaged_bytes": 1101824,
+      "compressed_video": false,
+      "sha256": "7b7ba3be00e2138b29c2c78431ddb2cabc829cdd46aa826047bbd429c83c14ba"
+    },
+    {
+      "source": "robocap_segment1_mag_middle.db",
+      "packaged_as": "robocap_segment1_mag_middle.db",
+      "kind": "data",
+      "original_bytes": 299008,
+      "packaged_bytes": 299008,
+      "compressed_video": false,
+      "sha256": "26d6a9746750846f4fcc17d19b113eb664ea2362d5e969eb7ff41bf3f2b24599"
+    },
+    {
+      "source": "robocap_segment1_video_left.mp4",
+      "packaged_as": "robocap_segment1_video_left.mp4",
+      "kind": "video_raw",
+      "original_bytes": 55011848,
+      "packaged_bytes": 55011848,
+      "compressed_video": false,
+      "sha256": "9c96a1e1841cbfc60c0fe5de7a1410ac7215c1aebece8991e798feb58981c3ee"
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 54918751,
+      "packaged_bytes": 54918751,
+      "compressed_video": false,
+      "sha256": "4f26c227147a30743eedcf3b6a8493642c02d5239005c07df4bd20eca6638a11"
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 55032758,
+      "packaged_bytes": 55032758,
+      "compressed_video": false,
+      "sha256": "9eb7cf15a67ef67b3bae2655164228e0369c28aa1b5674a919d0c4b68f6a39c2"
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 55023081,
+      "packaged_bytes": 55023081,
+      "compressed_video": false,
+      "sha256": "da824ad7e10628ce921129336b90370cc8a0340b91e2f5b10106ecb017851290"
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 55025836,
+      "packaged_bytes": 55025836,
+      "compressed_video": false,
+      "sha256": "72713bd8c5b48b0441f4763e9d680a5ad78d74a6f311f4b07ea4085257c664a6"
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 55064767,
+      "packaged_bytes": 55064767,
+      "compressed_video": false,
+      "sha256": "e2877f2f9eb315d1164c69856c801dba745f93fc82a58621bc8c15be94f9f7e4"
+    },
+    {
+      "source": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_imu_left.db",
+      "packaged_as": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1101824,
+      "packaged_bytes": 1101824,
+      "compressed_video": false,
+      "sha256": "3780b22d62bc68a7ad88d37487d486d7cdfac50bdff6b887c8bd54b28da10e4b"
+    },
+    {
+      "source": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_mag_left.db",
+      "packaged_as": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_mag_left.db",
+      "kind": "data",
+      "original_bytes": 286720,
+      "packaged_bytes": 286720,
+      "compressed_video": false,
+      "sha256": "013c41977c9501d5067d4f1184c0da0be723bb59bda3b8d7c7c53eacc2a2fc9b"
+    },
+    {
+      "source": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4",
+      "packaged_as": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4",
+      "kind": "video_raw",
+      "original_bytes": 45855154,
+      "packaged_bytes": 45855154,
+      "compressed_video": false,
+      "sha256": "eaed3099532b6d2b31a652eeb9c48fc8c3e96f2920086250e47b74705c384c59"
+    },
+    {
+      "source": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_imu_right.db",
+      "packaged_as": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1105920,
+      "packaged_bytes": 1105920,
+      "compressed_video": false,
+      "sha256": "e46b0d468855249ab566929c3ed63e786cd1b33acaeef46099b8ab8232d47b02"
+    },
+    {
+      "source": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_mag_right.db",
+      "packaged_as": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_mag_right.db",
+      "kind": "data",
+      "original_bytes": 286720,
+      "packaged_bytes": 286720,
+      "compressed_video": false,
+      "sha256": "411e4f71470c7ff25ab1896ec3cbccedc78dfb05066d057716bca707380b2431"
+    },
+    {
+      "source": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4",
+      "packaged_as": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4",
+      "kind": "video_raw",
+      "original_bytes": 43726157,
+      "packaged_bytes": 43726157,
+      "compressed_video": false,
+      "sha256": "834ef2d534118604771e8e7f54839bdf0f2e33a8d1f301cacaddb00161404f8e"
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 562255,
+      "packaged_bytes": 562207,
+      "compressed_video": false,
+      "sha256": "90762c036adb293be9d001541a1e33da8e08fe64aed0ef7cd92998580ad7de5b"
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-LM24-S03-lvaoshan-01p1",
+    "action_id": "LM24",
+    "collection_session_index": 3,
+    "participant": "lvaoshan",
+    "repetition_count": 1
+  },
+  "upload_batch_created_at": "2026-10-28T01:48:53.609308+08:00",
+  "participant_gender": "female",
+  "participant_height_cm": 166,
+  "participant_weight_kg": 46,
+  "collection_site": {
+    "id": "site_00",
+    "assignment_method": "env",
+    "catalog": "collection_sites.json"
+  }
+}

actions/locomanipulation/LM24/session_027/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b9dc2bc498c91747e69d6b0023e1569945465e191846c3c571d6823752b36e4
+size 110054545

actions/locomanipulation/LM24/session_027/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efc586241bbf391020720264057649c044c8e599f0131281ec6428ed98798550
+size 24340028

actions/locomanipulation/LM24/session_027/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afcabd8ce4f4210d9f4b531f3c28150c57fab7a665913f34dea54e556bd803a5
+size 1138688

actions/locomanipulation/LM24/session_027/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b7ba3be00e2138b29c2c78431ddb2cabc829cdd46aa826047bbd429c83c14ba
+size 1101824

actions/locomanipulation/LM24/session_027/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26d6a9746750846f4fcc17d19b113eb664ea2362d5e969eb7ff41bf3f2b24599
+size 299008

actions/locomanipulation/LM24/session_027/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3780b22d62bc68a7ad88d37487d486d7cdfac50bdff6b887c8bd54b28da10e4b
+size 1101824

actions/locomanipulation/LM24/session_027/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e46b0d468855249ab566929c3ed63e786cd1b33acaeef46099b8ab8232d47b02
+size 1105920

actions/locomanipulation/LM24/session_027/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:013c41977c9501d5067d4f1184c0da0be723bb59bda3b8d7c7c53eacc2a2fc9b
+size 286720

actions/locomanipulation/LM24/session_027/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:411e4f71470c7ff25ab1896ec3cbccedc78dfb05066d057716bca707380b2431
+size 286720

actions/locomanipulation/LM24/session_027/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58b2de04f7be54fce7972299b94f54b121cac327569a5dbc13eae7dfe3399eb1
+size 1260081

actions/locomanipulation/LM24/session_027/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f39b8b88d81a69c0cd55dde83cf2a5e7f35b8fbc341b63cd16c45564162c525
+size 141118

actions/locomanipulation/LM24/session_027/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f44b61d30e8a7661f3f87212abade223fedc4df807b8c5020e18342cfe1a7779
+size 1270202

actions/locomanipulation/LM24/session_027/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6114ac5920ee34a91c5399363e748daa84b6798597b49b534657f55cd3d24a8f
+size 253682

actions/locomanipulation/LM24/session_027/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1730ffdd4c5f7ffdc5f74902610e8cc3244a47a76b27f8df6bb0ea35dcc5f2f7
+size 214979

actions/locomanipulation/LM24/session_027/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c96a1e1841cbfc60c0fe5de7a1410ac7215c1aebece8991e798feb58981c3ee
+size 55011848

actions/locomanipulation/LM24/session_027/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f26c227147a30743eedcf3b6a8493642c02d5239005c07df4bd20eca6638a11
+size 54918751

actions/locomanipulation/LM24/session_027/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9eb7cf15a67ef67b3bae2655164228e0369c28aa1b5674a919d0c4b68f6a39c2
+size 55032758

actions/locomanipulation/LM24/session_027/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da824ad7e10628ce921129336b90370cc8a0340b91e2f5b10106ecb017851290
+size 55023081

actions/locomanipulation/LM24/session_027/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72713bd8c5b48b0441f4763e9d680a5ad78d74a6f311f4b07ea4085257c664a6
+size 55025836

actions/locomanipulation/LM24/session_027/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2877f2f9eb315d1164c69856c801dba745f93fc82a58621bc8c15be94f9f7e4
+size 55064767

actions/locomanipulation/LM24/session_027/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:967de4b7d99f786929a1865347e5ab65e66ea5115b78378f15389fee22ca9b73
+size 58293436

actions/locomanipulation/LM24/session_027/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eaed3099532b6d2b31a652eeb9c48fc8c3e96f2920086250e47b74705c384c59
+size 45855154

actions/locomanipulation/LM24/session_027/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:834ef2d534118604771e8e7f54839bdf0f2e33a8d1f301cacaddb00161404f8e
+size 43726157

actions/locomanipulation/LM24/session_028/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bb8f9635f97ecdced0d0b057aac33a462533b7b9d4b2494e4b46cc903283b91
+size 1164156

actions/locomanipulation/LM24/session_028/meta.json

@@ -0,0 +1,556 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261030/LM24/20261030_034321_session39",
+ "session_id": "20261030_034321_session39",
+ "primitive": "LM24",
+ "batch": "20261030",
+ "participant": "huruoxuan",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e3296774a321bb51",
+  "left": "39042f5fb5da3b12",
+  "right": "65a3481473d6e2a0"
+ },
+ "generated_at_utc": "2026-11-03T05:46:36.301024+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": 132.95833333333334,
+  "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": -0.08783,
+  "rate": 0.0,
+  "global_lag_s": -0.085,
+  "peak_corr": 0.966,
+  "reference_imu_first_sample_s": 10367.59994094,
+  "windows": {
+   "n_windows": 12,
+   "window_corr_median": 0.9952924151943203,
+   "drift_ppm": -407.1056794383972,
+   "drift_se_ppm": 235.81088545230372,
+   "drift_ms_over_take": -54.1247000813349,
+   "lag_scatter_ms": 25.74193828299346,
+   "lag_range_ms": 106.77540662276729
+  }
+ },
+ "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": "e3296774a321bb51",
+  "status": "ok",
+  "date": "2026-10-21"
+ },
+ "streams": {
+  "sensors": {
+   "imu_head_right": {
+    "n_acc": 26844,
+    "n_gyro": 26838,
+    "t_start": -0.09934552683451428,
+    "t_end": 133.13406365516667
+   },
+   "imu_head_left": {
+    "n_acc": 26713,
+    "n_gyro": 26707,
+    "t_start": 0.01875545216527727,
+    "t_end": 133.30298237316666
+   },
+   "imu_wrist_right": {
+    "n_acc": 26922,
+    "n_gyro": 26936,
+    "t_start": -0.8982647758349058,
+    "t_end": 131.80385404916515
+   },
+   "imu_wrist_left": {
+    "n_acc": 26779,
+    "n_gyro": 26792,
+    "t_start": -0.8969073618337289,
+    "t_end": 131.80426519816675
+   },
+   "mag_head": {
+    "n": 13337,
+    "t_start": 0.10431257716656447,
+    "t_end": 133.46425955716578
+   },
+   "mag_wrist_right": {
+    "n": 13269,
+    "t_start": -0.8803541638336183,
+    "t_end": 131.80039736616519
+   },
+   "mag_wrist_left": {
+    "n": 13270,
+    "t_start": -0.8898007998341937,
+    "t_end": 131.80078010216667
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 10367.725057,
+    "frames": 3988,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0025546514432425653,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.039840785608174806,
+    "t_end": 132.93978478560885,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 10367.72503,
+    "frames": 3988,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002366886077403108,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.03962602024323034,
+    "t_end": 132.9395700202439,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 10367.725049,
+    "frames": 3988,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0026728712083183277,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.03995100537569571,
+    "t_end": 132.93989500537637,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 10367.725066,
+    "frames": 3988,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002595594493655556,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.03989072865981044,
+    "t_end": 132.9398347286605,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 60.0,
+    "start_device_s": 10367.72504,
+    "frames": 3959,
+    "pts_gaps": 3958,
+    "timing": "pts (gap undecided)",
+    "timeshift_cam_imu_s": 0.002394386090989767,
+    "gap_test": {
+     "pts": {
+      "offset_ms": -31.5,
+      "corr": 0.917,
+      "err_ms": 33.8
+     },
+     "nominal": {
+      "offset_ms": 150.0,
+      "corr": 0.342,
+      "err_ms": 147.6
+     }
+    },
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.03966352025592543,
+    "t_end": 132.9562525202563,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 10367.725016,
+    "frames": 3988,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002315656053021164,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.03956079021911038,
+    "t_end": 132.9395047902198,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 10366.78568,
+    "frames": 3981,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": -0.9020908658331619,
+    "t_end": 131.76516213416645,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 10366.786817,
+    "frames": 3981,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": -0.9009538658338725,
+    "t_end": 131.76649413416627,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-LM24-S01-huruoxuan-01p2-1.mp4",
+    "frames": 3989,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 132.93333333333334
+   }
+  }
+ },
+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
+ "rig_tracker": {
+  "definition": "e3296774a321bb51/20261030-morning/labels-235140/session-70bab24e8d446a85",
+  "R_tracker0_imu0": [
+   [
+    -0.6272465,
+    0.26920242,
+    -0.73081591
+   ],
+   [
+    0.77796038,
+    0.26066697,
+    -0.57169081
+   ],
+   [
+    0.03659902,
+    -0.92713688,
+    -0.37293125
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   -0.19484458933179882,
+   0.2050075846937086,
+   -0.04543963838891717
+  ],
+  "rig_check": {
+   "gyro_samples": 4636,
+   "gyro_max_deg": 2.5,
+   "status": "video_solve",
+   "dropped_marker": null,
+   "gyro_deg": 0.632,
+   "video_solve": {
+    "status": "ok",
+    "reason": "",
+    "reprojection_px": 3.317,
+    "n_assoc": 275,
+    "gyro_deg": 0.632
+   }
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "canonical": {
+  "generated_at_utc": "2026-11-03T09:17:48.616840+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": [
+   [
+    0.9999994811,
+    -0.0010186764,
+    -5.0019e-06
+   ],
+   [
+    5.0019e-06,
+    0.0098201105,
+    -0.9999517815
+   ],
+   [
+    0.0010186764,
+    0.9999512627,
+    0.0098201105
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.000999999481,
+    -1.018676e-06,
+    -5.002e-09,
+    0.0
+   ],
+   [
+    5.002e-09,
+    9.82011e-06,
+    -0.000999951782,
+    0.0
+   ],
+   [
+    1.018676e-06,
+    0.000999951263,
+    9.82011e-06,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20261030-morning",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.5656792281808913,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 47.8,
+   "headtop_p95_mm": 1616.4
+  },
+  "gravity_check": {
+   "static_samples": 2760,
+   "g_world_mean_m_s2": [
+    0.0184,
+    0.0065,
+    9.891
+   ],
+   "tilt_from_z_deg": 0.113,
+   "tilt_from_z_deg_before_levelling": 0.55,
+   "magnitude_m_s2": 9.891
+  },
+  "rig_tracker_definition": "e3296774a321bb51/20261030-morning/labels-235140/session-70bab24e8d446a85",
+  "rig_check": {
+   "status": "video_solve",
+   "dropped_marker": null,
+   "gyro_deg": 0.632
+  },
+  "camera_pose_source": "T_tracker0_imu0 @ inv(T_cam_imu)",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-11-03T11:01:06.403876+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": [
+      0.06533727049827576,
+      0.011107243597507477,
+      0.02691640518605709
+     ],
+     "LHandOut": [
+      0.06503251194953918,
+      0.011773955076932907,
+      -0.02535245381295681
+     ],
+     "LWristOut": [
+      -0.014425208792090416,
+      0.025102412328124046,
+      -0.026881756260991096
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.049790021032094955,
+      0.01234477013349533,
+      0.015426300466060638
+     ],
+     "RHandOut": [
+      -0.0523361973464489,
+      0.0306281428784132,
+      -0.010238902643322945
+     ],
+     "RWristOut": [
+      0.018679596483707428,
+      0.0408937931060791,
+      -0.002738288603723049
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 6.07,
+   "p95_frame": 19.84
+  },
+  "worst_markers": [
+   "WaistRBack 36mm",
+   "RElbowIn 15mm",
+   "RThigh 15mm",
+   "RShin 15mm",
+   "WaistRFront 14mm"
+  ],
+  "valid_fraction": 0.9951,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 29.7,
+    "p5": 19.0
+   },
+   "frames_checked": 530,
+   "stature_mm": 1572.8
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 14.86
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 20.99,
+    "Q_rotvec": [
+     0.12736,
+     -0.28333,
+     0.19404
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 45.5,
+    "opposite_sign_bend_deg": 141.5,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 2.54,
+    "hand_vs_marker_frame_deg": {
+     "before": 20.43,
+     "after": 2.54
+    },
+    "markers_on_wrist": [
+     "LWristOut",
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 43.89,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -3.6,
+       2.5
+      ]
+     },
+     "wrist_total_deg_median_after": 12.7,
+     "markers_on_forearm": [
+      "LElbowIn",
+      "LForearm",
+      "LWristIn"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 49.62,
+    "Q_rotvec": [
+     0.73476,
+     0.43452,
+     -0.14567
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 46.4,
+    "opposite_sign_bend_deg": 146.1,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 3.31,
+    "hand_vs_marker_frame_deg": {
+     "before": 49.93,
+     "after": 3.31
+    },
+    "markers_on_wrist": [
+     "RWristOut",
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -40.97,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -1.7,
+       2.7
+      ]
+     },
+     "wrist_total_deg_median_after": 22.9,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-11-03T11:01:09.409257+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/locomanipulation/LM24/session_028",
+  "family": "locomanipulation",
+  "primitive": "LM24",
+  "source_session": "20261030/LM24/20261030_034321_session39"
+ },
+ "task": {
+  "primitive": "LM24",
+  "instruction": "Carry the box through the gap between the panels without touching either side, then set it down and bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+ },
+ "objects": [
+  {
+   "name": "CcGreen",
+   "object_type": "CcGreen",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "CcRed",
+   "object_type": "CcRed",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "LittleBox1",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
+}

actions/locomanipulation/LM24/session_028/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d274dce41ed03e2b66afeb12983d2ed1f93b5e05c4199918184585430dbc0a12
+size 1191661

actions/locomanipulation/LM24/session_028/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd13c1035a0e6636766e58e39a8f07afa53bf1693e4809d24e870062171ebeb7
+size 9193190

actions/locomanipulation/LM24/session_028/motions/object_markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f61d14785196cdaf6956d1feeb470293bab8d87e503c87630c04149da47801be
+size 1737222

actions/locomanipulation/LM24/session_028/motions/objects.json

@@ -0,0 +1,126 @@
+{
+ "session": "20261030/LM24/20261030_034321_session39",
+ "generated_at_utc": "2026-11-04T20:52:31.014545+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": "CcGreen",
+   "object_type": "CcGreen",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/CcGreen/ccgreen.ply",
+   "calibration": {
+    "instance": "CcGreen",
+    "rms_mm": 2.7
+   },
+   "valid_pct": 99.99,
+   "verified_pct": 99.99,
+   "moving_pct": 0.0,
+   "vision_source": null
+  },
+  {
+   "name": "CcRed",
+   "object_type": "CcRed",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 99.99,
+   "verified_pct": 99.99,
+   "moving_pct": 0.0,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox1",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 95.46,
+   "verified_pct": 95.41,
+   "moving_pct": 68.13,
+   "vision_source": null
+  }
+ ],
+ "absent": [
+  {
+   "name": "CcBlue",
+   "object_type": "CcBlue",
+   "valid_s": 0.02
+  },
+  {
+   "name": "CcYellow",
+   "object_type": "CcYellow",
+   "valid_s": 0.7
+  },
+  {
+   "name": "LowStep",
+   "object_type": "LowStep",
+   "valid_s": 0.17
+  }
+ ],
+ "object_list": {
+  "status": "corrected",
+  "notes": [
+   "CcBule -> CcBlue",
+   "Lowstep -> LowStep"
+  ],
+  "declared": [
+   "CcBule0",
+   "CcGreen0",
+   "CcRed0",
+   "CcYellow0",
+   "LittleBox1",
+   "LowStep0"
+  ],
+  "listed": [
+   {
+    "name": "CcBlue",
+    "object": "CcBlue",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "CcGreen",
+    "object": "CcGreen",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "CcRed",
+    "object": "CcRed",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "CcYellow",
+    "object": "CcYellow",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LittleBox1",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LowStep",
+    "object": "LowStep",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "CcBule0",
+    "object": null,
+    "source": "manifest_only (no mocap rigid body)",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}