Release update 2026-11-05: new sessions, instructions, annotations (part 56)

.gitattributes

@@ -48623,3 +48623,41 @@ actions/locomotion_primitives/P24/session_016/raw/sensors/robowrist_imu_left.db
 actions/locomotion_primitives/P24/session_016/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomotion_primitives/P24/session_016/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/locomotion_primitives/P24/session_016/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P25/session_025/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P25/session_025/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P25/session_025/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P25/session_025/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P25/session_025/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P25/session_025/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P25/session_025/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P25/session_025/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P25/session_025/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P25/session_025/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P25/session_026/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P25/session_026/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P25/session_026/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P25/session_026/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P25/session_026/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P25/session_026/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P25/session_026/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P25/session_026/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P25/session_026/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P25/session_027/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P25/session_027/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P25/session_027/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P25/session_027/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P25/session_027/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P25/session_027/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P25/session_027/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P25/session_027/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P25/session_027/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P26/session_013/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P26/session_013/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P26/session_013/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P26/session_013/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P26/session_013/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P26/session_013/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P26/session_013/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P26/session_013/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P26/session_013/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_primitives/P26/session_013/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/locomotion_primitives/P25/session_024/cameras/gsi_online_calibration.json

@@ -0,0 +1,258 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.407
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 2.3623,
+   "gate_fail": [],
+   "held_out_px_after": 0.565,
+   "held_out_px_before": 8.657,
+   "inliers": 1763,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.9623,
+    -1.2697,
+    0.3428
+   ],
+   "split_deg": 0.0626,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.8281,
+   "gate_fail": [],
+   "held_out_px_after": 0.564,
+   "held_out_px_before": 3.504,
+   "inliers": 1851,
+   "position_fitted": true,
+   "position_mm": [
+    1.75,
+    -16.51,
+    1.5
+   ],
+   "position_sigma_mm": 0.258,
+   "position_split_mm": 2.816,
+   "rotvec_deg": [
+    0.0345,
+    -0.1444,
+    0.8146
+   ],
+   "split_deg": 0.054,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 3.9587,
+   "gate_fail": [],
+   "held_out_px_after": 0.675,
+   "held_out_px_before": 11.063,
+   "inliers": 1341,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.3003,
+    -0.8556,
+    3.1062
+   ],
+   "split_deg": 0.1712,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9676,
+   "gate_fail": [],
+   "held_out_px_after": 0.411,
+   "held_out_px_before": 5.283,
+   "inliers": 2761,
+   "position_fitted": true,
+   "position_mm": [
+    3.26,
+    -13.34,
+    2.6
+   ],
+   "position_sigma_mm": 0.39,
+   "position_split_mm": 2.317,
+   "rotvec_deg": [
+    0.3719,
+    -0.8398,
+    1.7401
+   ],
+   "split_deg": 0.0716,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.8163,
+   "gate_fail": [],
+   "held_out_px_after": 0.36,
+   "held_out_px_before": 4.923,
+   "inliers": 4574,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.6998,
+    -0.2317,
+    -0.3507
+   ],
+   "split_deg": 0.0197,
+   "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": "de2bc03cbd861ac4d1aad0af729bc1a52632a879bb30a41d3a8cb3eb24b10bc2",
+   "source_sha256": "2bf43346f9825da1c051096d46ceb924252959c0c3fed4ac9c166c6096121ae0"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "667694d67ddf5fadd363a81e8b00e3c3ff0ff32495cc1445a153fbcebd59b6f3",
+   "source_sha256": "b80f390816142bc598f6a58e17810083d07270f17802c79b0d33dade12e1a7ed"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "cc950d812f2db30025f55b7a37846691aa10c91a54bcea409f558841f8cf59b8",
+   "source_sha256": "55ee2a9af25410709c73762b726e1a41e5450b277090a5256571601dd5fd719b"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "fd3c1cd3eeee9804490f09a375cda85416d032e8d2cb61dd9ba3e9e5dbc2a702",
+   "source_sha256": "b2fcef709086e19cb082ae12586aebd1a6fa9a92db90015c1c5a641f4588dfc7"
+  }
+ },
+ "input_fingerprint": "2ba678190c13f8b2",
+ "kind": "online_calibration",
+ "output_sha256": "b25831d9f62562e65f84f76baab35aa5ea1b16d8487185b132b66d411497e5df",
+ "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": 44.662,
+  "left_eye": 40.784,
+  "left_front": 37.805,
+  "right": 45.426,
+  "right_eye": 39.729,
+  "right_front": 38.245
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   721309697000,
+   722309697000,
+   729309697000,
+   730309697000,
+   731309697000,
+   732309697000,
+   735309697000,
+   736309697000,
+   740309841444,
+   741309785888,
+   744309719222,
+   745309719222,
+   749309730333,
+   750309741444,
+   757309697000,
+   758309697000,
+   759309697000,
+   763309763666,
+   764309741444,
+   766309741444,
+   767309730333,
+   771309697000,
+   772309841444,
+   775309841444,
+   776309774777,
+   783309708111,
+   784309708111,
+   785309697000,
+   786309708111,
+   789309719222,
+   790309719222,
+   796309697000,
+   797309708111,
+   799309697000,
+   800309774777,
+   805309708111,
+   806309752555,
+   807309719222,
+   808309774777,
+   813309741444,
+   814309719222,
+   820309697000,
+   821309708111,
+   822309697000,
+   825309774777,
+   826309730333,
+   830309841444,
+   831309697000,
+   836309763666,
+   837309785888,
+   839309719222,
+   840309719222,
+   847309708111,
+   848309708111,
+   849309841444,
+   854309797000,
+   855309697000
+  ]
+ },
+ "version": 1
+}

actions/locomotion_primitives/P25/session_024/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb9489136aae712a1d7a38f89fc952159d1ca9f842ab53fc3bcde0a23cb9c44b
+size 799769

actions/locomotion_primitives/P25/session_024/meta.json

@@ -372,8 +372,8 @@
   "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)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -513,12 +513,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 17.89,
+    "offset_rotvec": [
+     0.3087,
+     -0.0259,
+     0.0392
+    ],
+    "dev_deg": {
+     "median": 17.12,
+     "p90": 31.75
+    },
+    "samples": 3024,
+    "accepted": 2669,
+    "wrist_pos_err_mm_median": 104.6,
+    "per_camera": {
+     "head": {
+      "samples": 3024,
+      "accepted": 2669,
+      "gate_deg": 30.0,
+      "offset_deg": 17.89,
+      "tier": "primary",
+      "dev_deg_median": 17.12,
+      "wrist_pos_err_mm_median": 104.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11018,
+     "interpolated": 4238,
+     "mean_hand": 1420,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9148,
+    "observed_fraction_of_valid": 0.9148,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 22.03,
+     "smplx": 1.01
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.1,
+      "p90": 16.3
+     },
+     "registered": {
+      "median": 9.7,
+      "p90": 15.4
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 12.91,
+    "offset_rotvec": [
+     0.0384,
+     0.0594,
+     0.2139
+    ],
+    "dev_deg": {
+     "median": 16.74,
+     "p90": 32.4
+    },
+    "samples": 3226,
+    "accepted": 2814,
+    "wrist_pos_err_mm_median": 82.0,
+    "per_camera": {
+     "head": {
+      "samples": 3226,
+      "accepted": 2814,
+      "gate_deg": 30.0,
+      "offset_deg": 12.91,
+      "tier": "primary",
+      "dev_deg_median": 16.74,
+      "wrist_pos_err_mm_median": 82.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11536,
+     "interpolated": 3200,
+     "mean_hand": 1940,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.8837,
+    "observed_fraction_of_valid": 0.8837,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 15.34,
+     "smplx": 1.35
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 18.3,
+      "p90": 30.8
+     },
+     "registered": {
+      "median": 18.1,
+      "p90": 30.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:44:57.086102+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P25/session_024",
   "family": "locomotion_primitives",
   "primitive": "P25",
   "source_session": "20261022/P25/20261022_095203_session3"
  },
+ "task": {
+  "primitive": "P25",
+  "instruction": "Walk to chair; sit ~2 s; stand; walk away."
+ },
  "objects": [
   {
    "name": "ArmlessChair",

actions/locomotion_primitives/P25/session_024/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9adcf956b6966f1acae9d0aa202a788f6cfc95858993a9bb7f2ea59c0b0fec50
+size 4297199

actions/locomotion_primitives/P25/session_024/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7e1f036c909c8434ca0849cdc010f102a1585ab806b5d3f185c3440c62689b27
-size 6382670
+oid sha256:0e26293abd4eeff6b6c6c28ca857d30741ee6adb672c64c1375a79df2bd2d482
+size 11568001

actions/locomotion_primitives/P25/session_025/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8b8081f8e4911ab05366e737cb81267138b54b1905adaf7b44bd439fe532108
+size 1337025

actions/locomotion_primitives/P25/session_025/meta.json

@@ -0,0 +1,539 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261030/P25/20261030_025056_session27",
+ "session_id": "20261030_025056_session27",
+ "primitive": "P25",
+ "batch": "20261030",
+ "participant": "huruoxuan",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e3296774a321bb51",
+  "left": "39042f5fb5da3b12",
+  "right": "65a3481473d6e2a0"
+ },
+ "generated_at_utc": "2026-11-03T05:47:46.382566+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": 153.19166666666666,
+  "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": -0.079383,
+  "rate": 0.0,
+  "global_lag_s": -0.08,
+  "peak_corr": 0.9966,
+  "reference_imu_first_sample_s": 7223.03538965,
+  "windows": {
+   "n_windows": 14,
+   "window_corr_median": 0.9970455975379526,
+   "drift_ppm": -7.9552941281771865,
+   "drift_se_ppm": 5.127323085578967,
+   "drift_ms_over_take": -1.2186184722012754,
+   "lag_scatter_ms": 0.7159917034898273,
+   "lag_range_ms": 2.5897701195291836
+  }
+ },
+ "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": 30922,
+    "n_gyro": 30917,
+    "t_start": -0.09124380934628532,
+    "t_end": 153.38332929465304
+   },
+   "imu_head_left": {
+    "n_acc": 30770,
+    "n_gyro": 30765,
+    "t_start": 0.027620840653237638,
+    "t_end": 153.5535730026533
+   },
+   "imu_wrist_right": {
+    "n_acc": 30960,
+    "n_gyro": 30960,
+    "t_start": -0.8236699153465608,
+    "t_end": 151.78340076965304
+   },
+   "imu_wrist_left": {
+    "n_acc": 30793,
+    "n_gyro": 30791,
+    "t_start": -0.8075952623465283,
+    "t_end": 151.7857273806532
+   },
+   "mag_head": {
+    "n": 15362,
+    "t_start": 0.11064864965390628,
+    "t_end": 153.72063622265358
+   },
+   "mag_wrist_right": {
+    "n": 15260,
+    "t_start": -0.8121921273466952,
+    "t_end": 151.77798848965375
+   },
+   "mag_wrist_left": {
+    "n": 15258,
+    "t_start": -0.7908134483466867,
+    "t_end": 151.77951811665315
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 7223.151665,
+    "frames": 4595,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0025546514432425653,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.03944677409725303,
+    "t_end": 153.17277977409702,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 7223.151639,
+    "frames": 4595,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002366886077403108,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.039233008730828106,
+    "t_end": 153.1725660087306,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 7223.151656,
+    "frames": 4595,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0026728712083183277,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.03955599386170691,
+    "t_end": 153.17288899386148,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 7223.151676,
+    "frames": 4595,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002595594493655556,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.03949871714774675,
+    "t_end": 153.17283171714752,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 60.0,
+    "start_device_s": 7223.151647,
+    "frames": 4590,
+    "pts_gaps": 4589,
+    "timing": "pts (gap undecided)",
+    "timeshift_cam_imu_s": 0.002394386090989767,
+    "gap_test": {
+     "pts": {
+      "offset_ms": -7.7,
+      "corr": 0.845,
+      "err_ms": 10.1
+     },
+     "nominal": {
+      "offset_ms": 150.0,
+      "corr": 0.37,
+      "err_ms": 147.6
+     }
+    },
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.03926850874375562,
+    "t_end": 153.17260150874353,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 7223.151625,
+    "frames": 4595,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002315656053021164,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.03916777870670815,
+    "t_end": 153.17250077870648,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 7222.308789,
+    "frames": 4577,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": -0.8059838773468229,
+    "t_end": 151.7276751226529,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 7222.288984,
+    "frames": 4578,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": -0.8257888773467286,
+    "t_end": 151.74107312265295,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-P25-S01-huruoxuan-05p2-1.mp4",
+    "frames": 4596,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 153.16666666666666
+   }
+  }
+ },
+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
+ "rig_tracker": {
+  "definition": "e3296774a321bb51/20261030-morning/labels-235140/session-dd65e6a9ff222438",
+  "R_tracker0_imu0": [
+   [
+    -0.62844403,
+    0.27760431,
+    -0.72663192
+   ],
+   [
+    0.77753331,
+    0.25104439,
+    -0.57655761
+   ],
+   [
+    0.02236199,
+    -0.92731471,
+    -0.37361394
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   -0.1946520219798638,
+   0.20228240865337951,
+   -0.028802118521134786
+  ],
+  "rig_check": {
+   "gyro_samples": 5539,
+   "gyro_max_deg": 2.5,
+   "status": "video_solve",
+   "dropped_marker": null,
+   "gyro_deg": 0.212,
+   "video_solve": {
+    "status": "ok",
+    "reason": "",
+    "reprojection_px": 3.441,
+    "n_assoc": 284,
+    "gyro_deg": 0.212
+   }
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "canonical": {
+  "generated_at_utc": "2026-11-03T09:17:52.286897+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": 47.6,
+   "headtop_p95_mm": 1617.3
+  },
+  "gravity_check": {
+   "static_samples": 5070,
+   "g_world_mean_m_s2": [
+    0.0292,
+    -0.0005,
+    9.745
+   ],
+   "tilt_from_z_deg": 0.172,
+   "tilt_from_z_deg_before_levelling": 0.611,
+   "magnitude_m_s2": 9.7451
+  },
+  "rig_tracker_definition": "e3296774a321bb51/20261030-morning/labels-235140/session-dd65e6a9ff222438",
+  "rig_check": {
+   "status": "video_solve",
+   "dropped_marker": null,
+   "gyro_deg": 0.212
+  },
+  "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": "2026-11-03T11:25:40.324142+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": [
+      0.07590814679861069,
+      -0.028413156047463417,
+      0.01576876826584339
+     ],
+     "LHandOut": [
+      0.07279545813798904,
+      0.013969721272587776,
+      -0.013206593692302704
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.049136776477098465,
+      0.019260484725236893,
+      0.0027052080258727074
+     ],
+     "RHandOut": [
+      -0.0526358000934124,
+      0.010623935610055923,
+      -0.029404424130916595
+     ],
+     "RWristOut": [
+      0.019656499847769737,
+      0.01786123402416706,
+      -0.035421792417764664
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 4.66,
+   "p95_frame": 8.87
+  },
+  "worst_markers": [
+   "WaistRBack 14mm",
+   "LThigh 12mm",
+   "RKneeIn 11mm",
+   "LKneeIn 9mm",
+   "LKnee 9mm"
+  ],
+  "valid_fraction": 0.9996,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 24.0,
+    "p5": 19.0
+   },
+   "frames_checked": 613,
+   "stature_mm": 1572.8
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 13.25
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 62.16,
+    "Q_rotvec": [
+     1.05588,
+     -0.21802,
+     -0.12019
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 49.9,
+    "opposite_sign_bend_deg": 136.7,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 1.37,
+    "hand_vs_marker_frame_deg": {
+     "before": 61.94,
+     "after": 1.37
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 47.46,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -1.6,
+       1.8
+      ]
+     },
+     "wrist_total_deg_median_after": 16.1,
+     "markers_on_forearm": [
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 28.47,
+    "Q_rotvec": [
+     -0.15717,
+     0.34672,
+     -0.31947
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 20.9,
+    "opposite_sign_bend_deg": 171.0,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 1.72,
+    "hand_vs_marker_frame_deg": {
+     "before": 28.82,
+     "after": 1.72
+    },
+    "markers_on_wrist": [
+     "RWristOut",
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -13.46,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -1.4,
+       2.1
+      ]
+     },
+     "wrist_total_deg_median_after": 16.2,
+     "markers_on_forearm": [
+      "RElbowIn",
+      "RForearm",
+      "RWristIn"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-11-03T11:25:43.516043+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/locomotion_primitives/P25/session_025",
+  "family": "locomotion_primitives",
+  "primitive": "P25",
+  "source_session": "20261030/P25/20261030_025056_session27"
+ },
+ "task": {
+  "primitive": "P25",
+  "instruction": "Walk to chair; sit ~2 s; stand; walk away."
+ },
+ "objects": [
+  {
+   "name": "ArmlessChair",
+   "object_type": "ArmlessChair",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
+}

actions/locomotion_primitives/P25/session_025/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:401a6c94b7b5e13921643624b5803108aab5e56164e38c8811c3a4a2a8ff3dd5
+size 1362542

actions/locomotion_primitives/P25/session_025/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d65086b2245637cdb1470c0b7542df8537dde3741545c2f8700d1b45103acf75
+size 10580419

actions/locomotion_primitives/P25/session_025/motions/object_markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f19ae8d50432798c9fc474581f299a3862fa29e5d86e0e4aa88b6cff8f2af78
+size 182448

actions/locomotion_primitives/P25/session_025/motions/objects.json

@@ -0,0 +1,39 @@
+{
+ "session": "20261030/P25/20261030_025056_session27",
+ "generated_at_utc": "2026-11-04T20:53:54.906252+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": "ArmlessChair",
+   "object_type": "ArmlessChair",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 15.91,
+   "verified_pct": 15.85,
+   "moving_pct": 12.92,
+   "vision_source": null
+  }
+ ],
+ "absent": [],
+ "object_list": {
+  "status": "corrected",
+  "notes": [],
+  "declared": [
+   "ArmlessChair0"
+  ],
+  "listed": [
+   {
+    "name": "ArmlessChair",
+    "object": "ArmlessChair",
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/locomotion_primitives/P25/session_025/motions/objects.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:224d0de28dc8572f7a9eb2d84df01b43439f93582c80ba9ebd68be140f18a89e
+size 200644

actions/locomotion_primitives/P25/session_025/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a28c46d14949d5c4225c40d7ebd3699c6a18cb9a51dd9ff09133b7d1559448b9
+size 10531386

actions/locomotion_primitives/P25/session_025/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9997ad7ad2427b9a8560dff2e5f1f805b752c20a0c5445b4e42d6e84332df0be
+size 7052673

actions/locomotion_primitives/P25/session_025/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8235620e39a489588c24de026ed6a884d6d57832602fccd5c137676006d79f48
+size 28730958

actions/locomotion_primitives/P25/session_025/raw/manifest.json

@@ -0,0 +1,286 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-11-01T08:02:04.183163+00:00",
+  "primitive_id": "P25",
+  "session_id": "20261030_025056_session27",
+  "upload_batch_id": "20261030",
+  "dataset_path": "EgoMotionActions/20261030/P25/20261030_025056_session27",
+  "segment": "auto/all",
+  "duration_s": 153.133333,
+  "device_ids": {
+    "main": "e3296774a321bb51",
+    "left": "39042f5fb5da3b12",
+    "right": "65a3481473d6e2a0"
+  },
+  "mocap_rigid_names": [
+    "ArmlessChair",
+    "Body0",
+    "Tracker0"
+  ],
+  "objects": [
+    "ArmlessChair0"
+  ],
+  "options": {
+    "raw_video": true,
+    "proxy_height": 540,
+    "proxy_crf": 28,
+    "proxy_bitrate": "1400k",
+    "mocap_selection": "explicit",
+    "mocap_files": [
+      "mocap-P25-S01-huruoxuan-05p2/mocap-P25-S01-huruoxuan-05p2-1.mp4",
+      "mocap-P25-S01-huruoxuan-05p2/mocap-P25-S01-huruoxuan-05p2-ArmlessChair.csv",
+      "mocap-P25-S01-huruoxuan-05p2/mocap-P25-S01-huruoxuan-05p2-ArmlessChair.trc",
+      "mocap-P25-S01-huruoxuan-05p2/mocap-P25-S01-huruoxuan-05p2-Body0.bvh",
+      "mocap-P25-S01-huruoxuan-05p2/mocap-P25-S01-huruoxuan-05p2-Body0.csv",
+      "mocap-P25-S01-huruoxuan-05p2/mocap-P25-S01-huruoxuan-05p2-Body0.trc",
+      "mocap-P25-S01-huruoxuan-05p2/mocap-P25-S01-huruoxuan-05p2-Tracker0.csv",
+      "mocap-P25-S01-huruoxuan-05p2/mocap-P25-S01-huruoxuan-05p2-Tracker0.trc"
+    ],
+    "include_rrd": false,
+    "rrd_files": [],
+    "aligned_intersection": false
+  },
+  "files": [
+    {
+      "source": "audio_segment1.wav",
+      "packaged_as": "audio_segment1.wav",
+      "kind": "data",
+      "original_bytes": 28730958,
+      "packaged_bytes": 28730958,
+      "compressed_video": false,
+      "sha256": "8235620e39a489588c24de026ed6a884d6d57832602fccd5c137676006d79f48"
+    },
+    {
+      "source": "mocap-P25-S01-huruoxuan-05p2/mocap-P25-S01-huruoxuan-05p2-1.mp4",
+      "packaged_as": "mocap/mocap-P25-S01-huruoxuan-05p2-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 77142753,
+      "packaged_bytes": 77142753,
+      "compressed_video": false,
+      "sha256": "9a37db1eedbe682f271d55eb1ac6f5c6798f71c1d54218688c6daef56b949fdf"
+    },
+    {
+      "source": "mocap-P25-S01-huruoxuan-05p2/mocap-P25-S01-huruoxuan-05p2-ArmlessChair.csv",
+      "packaged_as": "mocap/mocap-P25-S01-huruoxuan-05p2-ArmlessChair.csv",
+      "kind": "data",
+      "original_bytes": 4936031,
+      "packaged_bytes": 4936031,
+      "compressed_video": false,
+      "sha256": "c61e349739152c9356c25bce4deb320a985966846758732ad62bc623e3b274e3"
+    },
+    {
+      "source": "mocap-P25-S01-huruoxuan-05p2/mocap-P25-S01-huruoxuan-05p2-ArmlessChair.trc",
+      "packaged_as": "mocap/mocap-P25-S01-huruoxuan-05p2-ArmlessChair.trc",
+      "kind": "data",
+      "original_bytes": 895978,
+      "packaged_bytes": 895978,
+      "compressed_video": false,
+      "sha256": "6c8c11b5d27b1cb8ac1d970401449b4c78d1ed6482cfc67cdf09ccae7cff394b"
+    },
+    {
+      "source": "mocap-P25-S01-huruoxuan-05p2/mocap-P25-S01-huruoxuan-05p2-Body0.bvh",
+      "packaged_as": "mocap/mocap-P25-S01-huruoxuan-05p2-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 10996574,
+      "packaged_bytes": 10996574,
+      "compressed_video": false,
+      "sha256": "49d4685d6cc09a496aa00f912014e8c9a3457c2c123a28368014738ec797223f"
+    },
+    {
+      "source": "mocap-P25-S01-huruoxuan-05p2/mocap-P25-S01-huruoxuan-05p2-Body0.csv",
+      "packaged_as": "mocap/mocap-P25-S01-huruoxuan-05p2-Body0.csv",
+      "kind": "data",
+      "original_bytes": 151549633,
+      "packaged_bytes": 151549633,
+      "compressed_video": false,
+      "sha256": "025139b8184c367d83abd1660ed5db31409842990e798a9ae019121e98fd5daf"
+    },
+    {
+      "source": "mocap-P25-S01-huruoxuan-05p2/mocap-P25-S01-huruoxuan-05p2-Body0.trc",
+      "packaged_as": "mocap/mocap-P25-S01-huruoxuan-05p2-Body0.trc",
+      "kind": "data",
+      "original_bytes": 33358767,
+      "packaged_bytes": 33358767,
+      "compressed_video": false,
+      "sha256": "956bfb88699ab361cc576021f87c046081caa6f93da9834ac6ae0150a0f5d620"
+    },
+    {
+      "source": "mocap-P25-S01-huruoxuan-05p2/mocap-P25-S01-huruoxuan-05p2-Tracker0.csv",
+      "packaged_as": "mocap/mocap-P25-S01-huruoxuan-05p2-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 5784513,
+      "packaged_bytes": 5784513,
+      "compressed_video": false,
+      "sha256": "4f39ff63378fb915f57e97ec183a77e74b978910ab9151c42ea98e134bc48b74"
+    },
+    {
+      "source": "mocap-P25-S01-huruoxuan-05p2/mocap-P25-S01-huruoxuan-05p2-Tracker0.trc",
+      "packaged_as": "mocap/mocap-P25-S01-huruoxuan-05p2-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 5587921,
+      "packaged_bytes": 5587921,
+      "compressed_video": false,
+      "sha256": "f5a19ed41422dbd6c7209352550a4bc5e0c426be2e1b6275f3776389b9cd94c7"
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1585152,
+      "packaged_bytes": 1585152,
+      "compressed_video": false,
+      "sha256": "830121cae9b128110c2e7118503ec2dc2a3542b830934e182dc1c489f44acd26"
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1527808,
+      "packaged_bytes": 1527808,
+      "compressed_video": false,
+      "sha256": "4520a5fb7899fb21f01a233e2da74956e03727c0f2f75373bc9aad4534567cd0"
+    },
+    {
+      "source": "robocap_segment1_mag_middle.db",
+      "packaged_as": "robocap_segment1_mag_middle.db",
+      "kind": "data",
+      "original_bytes": 409600,
+      "packaged_bytes": 409600,
+      "compressed_video": false,
+      "sha256": "870f00b702e7e96603f7f50fa35bc3e0b5f110b73f1866010ff20dbb6ba4d6f2"
+    },
+    {
+      "source": "robocap_segment1_video_left.mp4",
+      "packaged_as": "robocap_segment1_video_left.mp4",
+      "kind": "video_raw",
+      "original_bytes": 76812280,
+      "packaged_bytes": 76812280,
+      "compressed_video": false,
+      "sha256": "1c460aa24ac2ec44454be11d48f7d1f11954d176bb32534ae5967cb8dc66179f"
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 76607477,
+      "packaged_bytes": 76607477,
+      "compressed_video": false,
+      "sha256": "3532f26cd0d7068585c3d1dba7016e0c77e5d818c32846f3265688ba13292b1c"
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 76833312,
+      "packaged_bytes": 76833312,
+      "compressed_video": false,
+      "sha256": "58a3a1d00e6ce1532808ea884c51d14866b9bb8aa80c9b758d394789ce73f665"
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 76871653,
+      "packaged_bytes": 76871653,
+      "compressed_video": false,
+      "sha256": "ba831f35e89485ddc81501160bfc4a7b045ad4ef6a53ef402402c117dfb4b690"
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 76735203,
+      "packaged_bytes": 76735203,
+      "compressed_video": false,
+      "sha256": "9239929c7d6e0dac13b0b3efbb1c59c8f9e1844f92a20e17d1d556393148577b"
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 76830070,
+      "packaged_bytes": 76830070,
+      "compressed_video": false,
+      "sha256": "f633a2dd30c9969dd513787899c2b846d65cb08e54b3ed8e874c036491f41fc4"
+    },
+    {
+      "source": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_imu_left.db",
+      "packaged_as": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1531904,
+      "packaged_bytes": 1531904,
+      "compressed_video": false,
+      "sha256": "88717fbb2d2eb124e6f0d133450d657ea656c4908790e96c10fcb899cc180433"
+    },
+    {
+      "source": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_mag_left.db",
+      "packaged_as": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_mag_left.db",
+      "kind": "data",
+      "original_bytes": 389120,
+      "packaged_bytes": 389120,
+      "compressed_video": false,
+      "sha256": "4ede2433f9f6f63bf393e802addf23374eb5312738dda7cefd8ba45829b2889b"
+    },
+    {
+      "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": 65574751,
+      "packaged_bytes": 65574751,
+      "compressed_video": false,
+      "sha256": "f11553d636db200977bce6cbc9691c72d1d4fff8d0a96adc749c7f730facc0db"
+    },
+    {
+      "source": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_imu_right.db",
+      "packaged_as": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1536000,
+      "packaged_bytes": 1536000,
+      "compressed_video": false,
+      "sha256": "5d5d95ad0dd1279127c3c115f61aa12b007506319dbdc2976f7be5bcd0acb91b"
+    },
+    {
+      "source": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_mag_right.db",
+      "packaged_as": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_mag_right.db",
+      "kind": "data",
+      "original_bytes": 389120,
+      "packaged_bytes": 389120,
+      "compressed_video": false,
+      "sha256": "0aecc335a76b18ba7afa35a98baa20ee9653803ce826c7c49c77d3245105d2a9"
+    },
+    {
+      "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": 64203171,
+      "packaged_bytes": 64203171,
+      "compressed_video": false,
+      "sha256": "d4e820cbb921cd7f90dee0d077c852f00ba5e56baafb1937a4b71da1657900c0"
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 7931635,
+      "packaged_bytes": 7931613,
+      "compressed_video": false,
+      "sha256": "3dddc6666cc366aff6d846ac5a1c491293441fbbf95b446838eabba1d2d53162"
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-P25-S01-huruoxuan-05p2",
+    "action_id": "P25",
+    "collection_session_index": 1,
+    "participant": "huruoxuan",
+    "repetition_count": 5
+  },
+  "upload_batch_created_at": "2026-11-01T16:27:11.218077+08:00",
+  "participant_gender": "female",
+  "participant_height_cm": 160,
+  "participant_weight_kg": 40,
+  "collection_site": {
+    "id": "site_00",
+    "assignment_method": "env",
+    "catalog": "collection_sites.json"
+  }
+}

actions/locomotion_primitives/P25/session_025/raw/mocap/Body0.bvh

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49d4685d6cc09a496aa00f912014e8c9a3457c2c123a28368014738ec797223f
+size 10996574

actions/locomotion_primitives/P25/session_025/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:025139b8184c367d83abd1660ed5db31409842990e798a9ae019121e98fd5daf
+size 151549633

actions/locomotion_primitives/P25/session_025/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:956bfb88699ab361cc576021f87c046081caa6f93da9834ac6ae0150a0f5d620
+size 33358767

actions/locomotion_primitives/P25/session_025/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:830121cae9b128110c2e7118503ec2dc2a3542b830934e182dc1c489f44acd26
+size 1585152

actions/locomotion_primitives/P25/session_025/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4520a5fb7899fb21f01a233e2da74956e03727c0f2f75373bc9aad4534567cd0
+size 1527808

actions/locomotion_primitives/P25/session_025/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:870f00b702e7e96603f7f50fa35bc3e0b5f110b73f1866010ff20dbb6ba4d6f2
+size 409600

actions/locomotion_primitives/P25/session_025/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88717fbb2d2eb124e6f0d133450d657ea656c4908790e96c10fcb899cc180433
+size 1531904

actions/locomotion_primitives/P25/session_025/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d5d95ad0dd1279127c3c115f61aa12b007506319dbdc2976f7be5bcd0acb91b
+size 1536000

actions/locomotion_primitives/P25/session_025/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ede2433f9f6f63bf393e802addf23374eb5312738dda7cefd8ba45829b2889b
+size 389120

actions/locomotion_primitives/P25/session_025/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0aecc335a76b18ba7afa35a98baa20ee9653803ce826c7c49c77d3245105d2a9
+size 389120

actions/locomotion_primitives/P25/session_025/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f82f18e44948ea7d5c4c23adfe88bce693ba307addf13a825d9f817427688e5
+size 1642998

actions/locomotion_primitives/P25/session_025/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e58ab4311ed5265a4802680abd5bd3baac457f9bf5845ead874803a174c3fee0
+size 193280

actions/locomotion_primitives/P25/session_025/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1eee23b22e44aa55ba8eb67cc4f21fdb8d30ed8cd936933d0ac0eb38ebe44606
+size 1721035

actions/locomotion_primitives/P25/session_025/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1e41186ab1c909bb009e4c724fe7927672d7fbe5a33fd9ce7cb3bf76bc22df7
+size 347650

actions/locomotion_primitives/P25/session_025/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:667b16f946a5feea194b4c027f5de425ff66cb7f69f71eab0edae9299452af73
+size 300600

actions/locomotion_primitives/P25/session_025/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c460aa24ac2ec44454be11d48f7d1f11954d176bb32534ae5967cb8dc66179f
+size 76812280

actions/locomotion_primitives/P25/session_025/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3532f26cd0d7068585c3d1dba7016e0c77e5d818c32846f3265688ba13292b1c
+size 76607477

actions/locomotion_primitives/P25/session_025/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58a3a1d00e6ce1532808ea884c51d14866b9bb8aa80c9b758d394789ce73f665
+size 76833312

actions/locomotion_primitives/P25/session_025/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba831f35e89485ddc81501160bfc4a7b045ad4ef6a53ef402402c117dfb4b690
+size 76871653

actions/locomotion_primitives/P25/session_025/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9239929c7d6e0dac13b0b3efbb1c59c8f9e1844f92a20e17d1d556393148577b
+size 76735203

actions/locomotion_primitives/P25/session_025/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f633a2dd30c9969dd513787899c2b846d65cb08e54b3ed8e874c036491f41fc4
+size 76830070

actions/locomotion_primitives/P25/session_025/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a37db1eedbe682f271d55eb1ac6f5c6798f71c1d54218688c6daef56b949fdf
+size 77142753

actions/locomotion_primitives/P25/session_025/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f11553d636db200977bce6cbc9691c72d1d4fff8d0a96adc749c7f730facc0db
+size 65574751

actions/locomotion_primitives/P25/session_025/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4e820cbb921cd7f90dee0d077c852f00ba5e56baafb1937a4b71da1657900c0
+size 64203171

actions/locomotion_primitives/P25/session_026/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:971e617a326a545f09cac113d4ca267ed08ae79f14b5af5fa4b3a8c5d2d18a6b
+size 1241457

actions/locomotion_primitives/P25/session_026/meta.json

@@ -0,0 +1,526 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261030/P25/20261030_025342_session28",
+ "session_id": "20261030_025342_session28",
+ "primitive": "P25",
+ "batch": "20261030",
+ "participant": "huruoxuan",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e3296774a321bb51",
+  "left": "39042f5fb5da3b12",
+  "right": "65a3481473d6e2a0"
+ },
+ "generated_at_utc": "2026-11-03T05:47:21.666395+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": 142.35833333333332,
+  "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": -0.083309,
+  "rate": 0.0,
+  "global_lag_s": -0.085,
+  "peak_corr": 0.9972,
+  "reference_imu_first_sample_s": 7388.655137758,
+  "windows": {
+   "n_windows": 13,
+   "window_corr_median": 0.9974049848901705,
+   "drift_ppm": -7.339045827550464,
+   "drift_se_ppm": 2.239643091640356,
+   "drift_ms_over_take": -1.0447131735518087,
+   "lag_scatter_ms": 0.2779323985075481,
+   "lag_range_ms": 1.15273785642106
+  }
+ },
+ "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": 28740,
+    "n_gyro": 28735,
+    "t_start": -0.09482533450059798,
+    "t_end": 142.55270490949974
+   },
+   "imu_head_left": {
+    "n_acc": 28602,
+    "n_gyro": 28596,
+    "t_start": 0.006806972499219979,
+    "t_end": 142.71854254849936
+   },
+   "imu_wrist_right": {
+    "n_acc": 28816,
+    "n_gyro": 28815,
+    "t_start": -0.7735697055005913,
+    "t_end": 141.2710151514992
+   },
+   "imu_wrist_left": {
+    "n_acc": 28670,
+    "n_gyro": 28683,
+    "t_start": -0.8161549215002707,
+    "t_end": 141.2624111274989
+   },
+   "mag_head": {
+    "n": 14281,
+    "t_start": 0.08613097249948971,
+    "t_end": 142.88612116549925
+   },
+   "mag_wrist_right": {
+    "n": 14204,
+    "t_start": -0.7656903795006257,
+    "t_end": 141.26446958649908
+   },
+   "mag_wrist_left": {
+    "n": 14208,
+    "t_start": -0.8043507665007893,
+    "t_end": 141.26633348849904
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 7388.775454,
+    "frames": 4270,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0025546514432425653,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.03956235194240783,
+    "t_end": 142.33957335194268,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 7388.775434,
+    "frames": 4270,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002366886077403108,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.039354586577104625,
+    "t_end": 142.3393545865773,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 7388.775448,
+    "frames": 4270,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0026728712083183277,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.03967457170787732,
+    "t_end": 142.33968557170815,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 7388.77546,
+    "frames": 4270,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002595594493655556,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.03960929499302786,
+    "t_end": 142.3396202949933,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 7388.775441,
+    "frames": 4270,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002394386090989767,
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.0393890865896936,
+    "t_end": 142.33938908658988,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 7388.775425,
+    "frames": 4270,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002315656053021164,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.039294356551948864,
+    "t_end": 142.33929435655213,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 7387.984256,
+    "frames": 4259,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": -0.7541902995009478,
+    "t_end": 141.1797937004993,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 7387.961411,
+    "frames": 4261,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": -0.7770352995004542,
+    "t_end": 141.2230947004999,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-P25-S02-huruoxuan-05p2-1.mp4",
+    "frames": 4271,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 142.33333333333334
+   }
+  }
+ },
+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
+ "rig_tracker": {
+  "definition": "e3296774a321bb51/20261030-morning/labels-235140/session-bd26d2ec87e0cb02",
+  "R_tracker0_imu0": [
+   [
+    -0.62652365,
+    0.27036481,
+    -0.73100683
+   ],
+   [
+    0.77859785,
+    0.2597137,
+    -0.57125666
+   ],
+   [
+    0.03540479,
+    -0.92706616,
+    -0.37322224
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   -0.17208813612498183,
+   0.22502647064083164,
+   -0.021644180197008613
+  ],
+  "rig_check": {
+   "gyro_samples": 4847,
+   "gyro_max_deg": 2.5,
+   "status": "video_solve",
+   "dropped_marker": null,
+   "gyro_deg": 0.732,
+   "video_solve": {
+    "status": "ok",
+    "reason": "",
+    "reprojection_px": 3.329,
+    "n_assoc": 320,
+    "gyro_deg": 0.732
+   }
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "canonical": {
+  "generated_at_utc": "2026-11-03T09:17:52.745301+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": 47.7,
+   "headtop_p95_mm": 1617.0
+  },
+  "gravity_check": {
+   "static_samples": 4180,
+   "g_world_mean_m_s2": [
+    0.0716,
+    0.003,
+    9.7459
+   ],
+   "tilt_from_z_deg": 0.421,
+   "tilt_from_z_deg_before_levelling": 0.726,
+   "magnitude_m_s2": 9.7462
+  },
+  "rig_tracker_definition": "e3296774a321bb51/20261030-morning/labels-235140/session-bd26d2ec87e0cb02",
+  "rig_check": {
+   "status": "video_solve",
+   "dropped_marker": null,
+   "gyro_deg": 0.732
+  },
+  "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": "2026-11-03T11:25:38.691945+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": [
+      0.08040366321802139,
+      0.0019729475025087595,
+      0.028284162282943726
+     ],
+     "LHandOut": [
+      0.07310572266578674,
+      0.02401265874505043,
+      -0.016770385205745697
+     ],
+     "LWristOut": [
+      -0.008109688758850098,
+      0.024402039125561714,
+      -0.011680152267217636
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.04954906553030014,
+      0.01793711446225643,
+      0.0022908539976924658
+     ],
+     "RHandOut": [
+      -0.05476776883006096,
+      0.011688795872032642,
+      -0.029654070734977722
+     ],
+     "RWristOut": [
+      0.017749175429344177,
+      0.015030641108751297,
+      -0.038276419043540955
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 4.28,
+   "p95_frame": 9.02
+  },
+  "worst_markers": [
+   "WaistRBack 14mm",
+   "RKneeIn 12mm",
+   "RThigh 11mm",
+   "LThigh 10mm",
+   "WaistRFront 9mm"
+  ],
+  "valid_fraction": 1.0,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 22.6,
+    "p5": 17.5
+   },
+   "frames_checked": 570,
+   "stature_mm": 1572.8
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 13.03
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 39.05,
+    "Q_rotvec": [
+     0.60428,
+     -0.20106,
+     0.24294
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 52.9,
+    "opposite_sign_bend_deg": 133.2,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 1.16,
+    "hand_vs_marker_frame_deg": {
+     "before": 39.3,
+     "after": 1.16
+    },
+    "markers_on_wrist": [
+     "LWristOut",
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 51.72,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -2.6,
+       2.0
+      ]
+     },
+     "wrist_total_deg_median_after": 13.5,
+     "markers_on_forearm": [
+      "LElbow",
+      "LElbowIn",
+      "LForearm",
+      "LWristIn"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 31.4,
+    "Q_rotvec": [
+     -0.08147,
+     0.40388,
+     -0.36137
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 33.0,
+    "opposite_sign_bend_deg": 155.1,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 2.06,
+    "hand_vs_marker_frame_deg": {
+     "before": 31.92,
+     "after": 2.06
+    },
+    "markers_on_wrist": [
+     "RWristOut",
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -29.54,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -1.7,
+       2.5
+      ]
+     },
+     "wrist_total_deg_median_after": 15.6,
+     "markers_on_forearm": [
+      "RElbowIn",
+      "RForearm",
+      "RWristIn"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-11-03T11:25:41.794050+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/locomotion_primitives/P25/session_026",
+  "family": "locomotion_primitives",
+  "primitive": "P25",
+  "source_session": "20261030/P25/20261030_025342_session28"
+ },
+ "task": {
+  "primitive": "P25",
+  "instruction": "Walk to chair; sit ~2 s; stand; walk away."
+ }
+}

actions/locomotion_primitives/P25/session_026/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e12c16e4c3568073ad4128f38d903f5fffe4572b1458af182616ea4d802d9b1
+size 1265802

actions/locomotion_primitives/P25/session_026/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28b124b5670ac12961d8469e70966c42ea875f94cb8ccfd437254a738aaa8c8d
+size 9839333

actions/locomotion_primitives/P25/session_026/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd27eb5c1cf1093f6480625705a553a0011273c6dc0fa700b6679fdadf029872
+size 9803361