Release update 2026-11-05: new sessions, instructions, annotations (part 71)

.gitattributes

@@ -46408,3 +46408,22 @@ actions/locomanipulation/LM50/session_014/raw/sensors/robowrist_mag_right.db fil
 actions/locomanipulation/LM51/session_014/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM51/session_014/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM51/session_014/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM51/session_014/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM51/session_014/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM51/session_014/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM51/session_014/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM51/session_014/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM51/session_014/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM51/session_014/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM51/session_015/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM51/session_015/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM51/session_015/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM51/session_015/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM51/session_015/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM51/session_015/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM51/session_015/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM51/session_015/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM51/session_015/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM51/session_015/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM51/session_016/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM51/session_016/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text

actions/locomanipulation/LM51/session_014/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8b3e3168e96f7e2b90a171867785d998affa61164f29154fd81a21b0fc1c5aa
+size 1683456

actions/locomanipulation/LM51/session_014/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0b8a41661db3dbcc2b908526be3f2933baf90a462c3136a41b5c273388f953f
+size 1626112

actions/locomanipulation/LM51/session_014/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7de8991d1f914536d288bfdee189af8b89ed40f3e87b118da105a022b0bb5ea3
+size 430080

actions/locomanipulation/LM51/session_014/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ee2bb29e80c14a85fe5e371ba3db76f3d7ba058660194d7f9fd61f3e9a4fd10
+size 1630208

actions/locomanipulation/LM51/session_014/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13766d31afd65e90ceb546bf0a1263eb222a6c017fc835326f3acee5ffc5f502
+size 1613824

actions/locomanipulation/LM51/session_014/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ec0cd48128ed099a67a9ce60f8dd8af6c18e08cff84fbde5de5e2dbc17ec63a
+size 413696

actions/locomanipulation/LM51/session_014/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:503fa24cbc531e1c04a79f48fe013d10b5d8c029fa2f64c4875c8eb45ab05bac
+size 413696

actions/locomanipulation/LM51/session_014/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ab72dba38fc6dfd532eb18dc3564bf13b06763ae9cd9d2ebf146967eda08609
+size 1779484

actions/locomanipulation/LM51/session_014/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dc02f51e13b7aa122593686f85afc7d1c40b54fc677a4e0800cce1ca0aa52bf
+size 204357

actions/locomanipulation/LM51/session_014/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84be78c7ba04591abb2ebee476ccfe5b2eb80bdadcde4ee036331ab19107dfc3
+size 1844456

actions/locomanipulation/LM51/session_014/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37d5899e3582db27faf0ba42a390d92ea0e1954686004ebff5c80326bba10063
+size 367053

actions/locomanipulation/LM51/session_014/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbc0fb22b147c60bceb8e12335ad2e02d13820d3ddb0d132696bad1c4d3ac7ec
+size 317777

actions/locomanipulation/LM51/session_014/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:680a9d1f43bffb0f168836845532587928e35eeb5001c581e40c2067452bf22c
+size 81145256

actions/locomanipulation/LM51/session_014/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c36f57a65c80a0dcd75f418e215f84d2a7a286aa75300d0d1969f3b7ff607762
+size 80899709

actions/locomanipulation/LM51/session_014/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4b302ee5f30491c87ef0ceb718bfa5afebfc499aae53241a34edba95a92a511
+size 81089988

actions/locomanipulation/LM51/session_014/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13783954a196984fcf3eab6ae05a30d6f747cde0c8e35b9398ade8d6229d781e
+size 81188573

actions/locomanipulation/LM51/session_014/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84bbaf7458d943f04415872bdfa8211d47c41a901a1309164715c375cc9fa938
+size 81009234

actions/locomanipulation/LM51/session_014/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f30a5544f6f9bc9b7f3b9763356aae030cf2658cf81f8763f360c894e8f8aa1e
+size 81114607

actions/locomanipulation/LM51/session_014/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a1d84c2d141b6b13c2ea1775d9d1dc7bf2920dacc8a42b26ac0cb7c4e180a7b
+size 84083200

actions/locomanipulation/LM51/session_014/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c34ce86fbcbe23d5f87b11b05c7c333d3caa0f322f858c78b9d0964c41584d1
+size 70710604

actions/locomanipulation/LM51/session_014/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:878cf81af8e3c1345ca189b060d7bbcb9ca8382c2e49b55be1f6e62f56b9cc8b
+size 70212463

actions/locomanipulation/LM51/session_015/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:227f10d42928d9d307883e4afd29c77ee06c4e2c4c1a75d475d3e817495c89c4
+size 1333308

actions/locomanipulation/LM51/session_015/meta.json

@@ -0,0 +1,580 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261028/LM51/20261028_025242_session22",
+ "session_id": "20261028_025242_session22",
+ "primitive": "LM51",
+ "batch": "20261028",
+ "participant": "mahui",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e3296774a321bb51",
+  "left": "75b5984e04d1d236",
+  "right": "c84bc808cb6b47af"
+ },
+ "generated_at_utc": "2026-10-30T07:27:35.661420+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": 153.35833333333332,
+  "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": -0.080368,
+  "rate": 0.0,
+  "global_lag_s": -0.08,
+  "peak_corr": 0.9326,
+  "reference_imu_first_sample_s": 7659.944017509,
+  "windows": {
+   "n_windows": 14,
+   "window_corr_median": 0.9885440725588969,
+   "drift_ppm": -286.277920659479,
+   "drift_se_ppm": 160.17171044465346,
+   "drift_ms_over_take": -43.9007191331311,
+   "lag_scatter_ms": 22.366762128701936,
+   "lag_range_ms": 99.17509382046349
+  }
+ },
+ "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": 30957,
+    "n_gyro": 30950,
+    "t_start": -0.09684999725385002,
+    "t_end": 153.55137993174623
+   },
+   "imu_head_left": {
+    "n_acc": 30804,
+    "n_gyro": 30798,
+    "t_start": 0.02330587674561524,
+    "t_end": 153.7180651727461
+   },
+   "imu_wrist_right": {
+    "n_acc": 30764,
+    "n_gyro": 30775,
+    "t_start": -0.7997606422538245,
+    "t_end": 152.256548421746
+   },
+   "imu_wrist_left": {
+    "n_acc": 31102,
+    "n_gyro": 31101,
+    "t_start": -0.8133610582541967,
+    "t_end": 152.6333431247461
+   },
+   "mag_head": {
+    "n": 15378,
+    "t_start": 0.11726983674572533,
+    "t_end": 153.8873211187459
+   },
+   "mag_wrist_right": {
+    "n": 15296,
+    "t_start": -0.7813737422536012,
+    "t_end": 152.24955547174642
+   },
+   "mag_wrist_left": {
+    "n": 15343,
+    "t_start": -0.7951475332535499,
+    "t_end": 152.62530958874623
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 7660.062108,
+    "frames": 4600,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0025546514432425653,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.04027729518958789,
+    "t_end": 153.3402442951895,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 7660.06208,
+    "frames": 4600,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002366886077403108,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.04006152982339539,
+    "t_end": 153.34002852982331,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 7660.062099,
+    "frames": 4600,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0026728712083183277,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.040386514954041774,
+    "t_end": 153.34034251495387,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 7660.062117,
+    "frames": 4600,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002595594493655556,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.040327238240314034,
+    "t_end": 153.34030523824032,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 7660.062089,
+    "frames": 4591,
+    "pts_gaps": 9,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002394386090989767,
+    "gap_test": {
+     "pts": {
+      "offset_ms": 29.2,
+      "corr": 0.913,
+      "err_ms": 26.8
+     },
+     "nominal": {
+      "offset_ms": 79.1,
+      "corr": 0.913,
+      "err_ms": 76.8
+     }
+    },
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.04009802983666144,
+    "t_end": 153.35669802983676,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 7660.062066,
+    "frames": 4600,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002315656053021164,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.03999629979927544,
+    "t_end": 153.3399522997991,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 7659.20754,
+    "frames": 4602,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_75b5984e04d1d236_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": -0.8168453562536176,
+    "t_end": 152.55027664374603,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 7659.267532,
+    "frames": 4588,
+    "pts_gaps": 1,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "gap_test": {
+     "pts": {
+      "offset_ms": 34.3,
+      "corr": 0.841,
+      "err_ms": 34.3
+     },
+     "nominal": {
+      "offset_ms": 68.2,
+      "corr": 0.841,
+      "err_ms": 68.2
+     }
+    },
+    "file": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": -0.7568533562541068,
+    "t_end": 152.17739164374626,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-LM51-S02-mahui-01p1-1.mp4",
+    "frames": 4601,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 153.33333333333334
+   }
+  }
+ },
+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
+ "rig_tracker": {
+  "definition": "e3296774a321bb51/20261028-morning/labels-503412/session-a5269c21e0b1c2cb",
+  "R_tracker0_imu0": [
+   [
+    -0.66434819,
+    0.23325679,
+    -0.71009349
+   ],
+   [
+    0.74662128,
+    0.16310953,
+    -0.64494337
+   ],
+   [
+    -0.0346144,
+    -0.95863786,
+    -0.282516
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   0.02271991863385799,
+   0.00024016894860829185,
+   -0.02360827727521717
+  ],
+  "rig_check": {
+   "gyro_samples": 2549,
+   "gyro_max_deg": 2.5,
+   "status": "gyro_rotation",
+   "dropped_marker": null,
+   "gyro_deg": 0.0,
+   "video_solve": {
+    "status": "ok",
+    "reason": "",
+    "reprojection_px": 3.192,
+    "n_assoc": 909,
+    "gyro_deg": 2.751
+   }
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-30T18:47:10.897284+00:00",
+  "generated_by": "scripts/canonicalise_dataset.py",
+  "frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
+  "R_canon_nokov": [
+   [
+    0.9999999999,
+    -1.6484e-05,
+    1.4e-08
+   ],
+   [
+    -1.4e-08,
+    -0.0016934171,
+    -0.9999985662
+   ],
+   [
+    1.6484e-05,
+    0.999998566,
+    -0.0016934171
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.001,
+    -1.6484e-08,
+    1.4e-11,
+    0.0
+   ],
+   [
+    -1.4e-11,
+    -1.693417e-06,
+    -0.000999998566,
+    0.0
+   ],
+   [
+    1.6484e-08,
+    0.000999998566,
+    -1.693417e-06,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20261028-morning",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.09703029591991919,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 41.3,
+   "headtop_p95_mm": 1635.5
+  },
+  "gravity_check": {
+   "static_samples": 3866,
+   "g_world_mean_m_s2": [
+    0.0808,
+    -0.1176,
+    9.7593
+   ],
+   "tilt_from_z_deg": 0.838,
+   "tilt_from_z_deg_before_levelling": 0.76,
+   "magnitude_m_s2": 9.7603
+  },
+  "rig_tracker_definition": "e3296774a321bb51/20261028-morning/labels-503412/session-a5269c21e0b1c2cb",
+  "rig_check": {
+   "status": "gyro_rotation",
+   "dropped_marker": null,
+   "gyro_deg": 0.0
+  },
+  "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": "2026-11-02T16:10:32.657775+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": [
+      0.05758381262421608,
+      0.010003594681620598,
+      0.027369515970349312
+     ],
+     "LHandOut": [
+      0.051442138850688934,
+      0.0258361604064703,
+      -0.01068076305091381
+     ],
+     "LWristIn": [
+      -0.014061340130865574,
+      -0.01704745925962925,
+      0.03154370188713074
+     ],
+     "LWristOut": [
+      -0.015390099957585335,
+      0.021583136171102524,
+      -0.0011709424434229732
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.06003772094845772,
+      0.022130539640784264,
+      0.0007577190990559757
+     ],
+     "RHandOut": [
+      -0.04347673058509827,
+      -0.00417554983869195,
+      -0.04207635298371315
+     ],
+     "RWristOut": [
+      0.010260216891765594,
+      0.00862707756459713,
+      -0.030420824885368347
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 4.98,
+   "p95_frame": 7.51
+  },
+  "worst_markers": [
+   "WaistRFront 16mm",
+   "LKneeIn 12mm",
+   "WaistLSide 12mm",
+   "WaistRSide 12mm",
+   "RKneeIn 10mm"
+  ],
+  "valid_fraction": 1.0,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": -34.8,
+    "p5": -44.3
+   },
+   "frames_checked": 614,
+   "stature_mm": 1631.4
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 12.51
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 35.41,
+    "Q_rotvec": [
+     0.53458,
+     -0.19038,
+     0.24493
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 31.3,
+    "opposite_sign_bend_deg": 155.5,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 2.02,
+    "hand_vs_marker_frame_deg": {
+     "before": 35.59,
+     "after": 2.02
+    },
+    "markers_on_wrist": [
+     "LWristIn",
+     "LWristOut",
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 29.4,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -8.6,
+       2.3
+      ]
+     },
+     "wrist_total_deg_median_after": 11.2,
+     "markers_on_forearm": [
+      "LElbowIn",
+      "LForearm"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 26.74,
+    "Q_rotvec": [
+     -0.37321,
+     -0.10626,
+     -0.25922
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 28.9,
+    "opposite_sign_bend_deg": 163.4,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 1.01,
+    "hand_vs_marker_frame_deg": {
+     "before": 26.71,
+     "after": 1.01
+    },
+    "markers_on_wrist": [
+     "RWristOut",
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 6.84,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -2.5,
+       14.4
+      ]
+     },
+     "wrist_total_deg_median_after": 26.2,
+     "markers_on_forearm": [
+      "RElbowIn",
+      "RForearm",
+      "RWristIn"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-11-02T16:10:36.043336+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/locomanipulation/LM51/session_015",
+  "family": "locomanipulation",
+  "primitive": "LM51",
+  "source_session": "20261028/LM51/20261028_025242_session22"
+ },
+ "task": {
+  "primitive": "LM51",
+  "instruction": "Take the objects from the bin one at a time and put one in each of the places the operator points out. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+ },
+ "objects": [
+  {
+   "name": "LittleBox1",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "LittleBox3",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "LittleBox5",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "Table",
+   "object_type": "Table",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
+}

actions/locomanipulation/LM51/session_015/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a69e16bef4009310b503fb8012c02ff0c3036b73c2c97c9502e7816a6b6dff5
+size 1354783

actions/locomanipulation/LM51/session_015/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50f074f672a61fd2921187c4d22fb47979cdb83510590d9ef81165320dd07266
+size 10628436

actions/locomanipulation/LM51/session_015/motions/object_markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c792a161aed226a2a320850cc9d1caf2ddea001c15d902d114f8c4052f7d9ed6
+size 2381811

actions/locomanipulation/LM51/session_015/motions/objects.json

@@ -0,0 +1,102 @@
+{
+ "session": "20261028/LM51/20261028_025242_session22",
+ "generated_at_utc": "2026-11-04T20:16:39.946124+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": "LittleBox1",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 99.71,
+   "verified_pct": 99.7,
+   "moving_pct": 22.51,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox3",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox3",
+    "rms_mm": 0.51
+   },
+   "valid_pct": 99.99,
+   "verified_pct": 99.99,
+   "moving_pct": 1.85,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox5",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox5",
+    "rms_mm": 1.98
+   },
+   "valid_pct": 99.04,
+   "verified_pct": 99.03,
+   "moving_pct": 14.13,
+   "vision_source": null
+  },
+  {
+   "name": "Table",
+   "object_type": "Table",
+   "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": [
+   "LittleBox1",
+   "LittleBox3",
+   "LittleBox5",
+   "Table0"
+  ],
+  "listed": [
+   {
+    "name": "LittleBox1",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LittleBox3",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LittleBox5",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "Table",
+    "object": null,
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/locomanipulation/LM51/session_015/motions/objects.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4f4f79245b4b8310d03eba6e342ce471e2df5134945003b14e42f6a73adc2c9
+size 2774389

actions/locomanipulation/LM51/session_015/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e053945d88b08521d01ad9699a7ec0918729fc5c880fcca53686b298c01ce4c
+size 10615438

actions/locomanipulation/LM51/session_015/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00ae734b7908986c8c090691bf88dbc7bb464448d600bf6b6af609ee4eb54db1
+size 7033966

actions/locomanipulation/LM51/session_015/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40faadf544e255e875d4ae76480e92484569d225667b6784344de97e42ed3618
+size 29523918

actions/locomanipulation/LM51/session_015/raw/manifest.json

@@ -0,0 +1,352 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-10-28T15:00:22.486429+00:00",
+  "primitive_id": "LM51",
+  "session_id": "20261028_025242_session22",
+  "upload_batch_id": "20261028",
+  "dataset_path": "EgoMotionActions/20261028/LM51/20261028_025242_session22",
+  "segment": "auto/all",
+  "duration_s": 153.299967,
+  "device_ids": {
+    "main": "e3296774a321bb51",
+    "left": "75b5984e04d1d236",
+    "right": "c84bc808cb6b47af"
+  },
+  "mocap_rigid_names": [
+    "Body0",
+    "LittleBox1",
+    "LittleBox3",
+    "LittleBox5",
+    "Table",
+    "Tracker0"
+  ],
+  "objects": [
+    "LittleBox1",
+    "LittleBox3",
+    "LittleBox5",
+    "Table0"
+  ],
+  "options": {
+    "raw_video": true,
+    "proxy_height": 540,
+    "proxy_crf": 28,
+    "proxy_bitrate": "1400k",
+    "mocap_selection": "explicit",
+    "mocap_files": [
+      "mocap-LM51-S02-mahui-01p1/mocap-LM51-S02-mahui-01p1-1.mp4",
+      "mocap-LM51-S02-mahui-01p1/mocap-LM51-S02-mahui-01p1-Body0.bvh",
+      "mocap-LM51-S02-mahui-01p1/mocap-LM51-S02-mahui-01p1-Body0.csv",
+      "mocap-LM51-S02-mahui-01p1/mocap-LM51-S02-mahui-01p1-Body0.trc",
+      "mocap-LM51-S02-mahui-01p1/mocap-LM51-S02-mahui-01p1-LittleBox1.csv",
+      "mocap-LM51-S02-mahui-01p1/mocap-LM51-S02-mahui-01p1-LittleBox1.trc",
+      "mocap-LM51-S02-mahui-01p1/mocap-LM51-S02-mahui-01p1-LittleBox3.csv",
+      "mocap-LM51-S02-mahui-01p1/mocap-LM51-S02-mahui-01p1-LittleBox3.trc",
+      "mocap-LM51-S02-mahui-01p1/mocap-LM51-S02-mahui-01p1-LittleBox5.csv",
+      "mocap-LM51-S02-mahui-01p1/mocap-LM51-S02-mahui-01p1-LittleBox5.trc",
+      "mocap-LM51-S02-mahui-01p1/mocap-LM51-S02-mahui-01p1-Table.csv",
+      "mocap-LM51-S02-mahui-01p1/mocap-LM51-S02-mahui-01p1-Table.trc",
+      "mocap-LM51-S02-mahui-01p1/mocap-LM51-S02-mahui-01p1-Tracker0.csv",
+      "mocap-LM51-S02-mahui-01p1/mocap-LM51-S02-mahui-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": 29523918,
+      "packaged_bytes": 29523918,
+      "compressed_video": false,
+      "sha256": "40faadf544e255e875d4ae76480e92484569d225667b6784344de97e42ed3618"
+    },
+    {
+      "source": "mocap-LM51-S02-mahui-01p1/mocap-LM51-S02-mahui-01p1-1.mp4",
+      "packaged_as": "mocap/mocap-LM51-S02-mahui-01p1-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 78980657,
+      "packaged_bytes": 78980657,
+      "compressed_video": false,
+      "sha256": "da9046d51e739518f780e0a72b5c13c772dc921d4dfeb8ab0f4967cc8a146196"
+    },
+    {
+      "source": "mocap-LM51-S02-mahui-01p1/mocap-LM51-S02-mahui-01p1-Body0.bvh",
+      "packaged_as": "mocap/mocap-LM51-S02-mahui-01p1-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 10994259,
+      "packaged_bytes": 10994259,
+      "compressed_video": false,
+      "sha256": "09604ee25573c38740f383f45383b954c4060688a498b8abeea033dc982ac31d"
+    },
+    {
+      "source": "mocap-LM51-S02-mahui-01p1/mocap-LM51-S02-mahui-01p1-Body0.csv",
+      "packaged_as": "mocap/mocap-LM51-S02-mahui-01p1-Body0.csv",
+      "kind": "data",
+      "original_bytes": 151545493,
+      "packaged_bytes": 151545493,
+      "compressed_video": false,
+      "sha256": "3f7c91790a2d7724ae4e76d36889063fbbb401e4f2919db6cfaec1c2f2063cfa"
+    },
+    {
+      "source": "mocap-LM51-S02-mahui-01p1/mocap-LM51-S02-mahui-01p1-Body0.trc",
+      "packaged_as": "mocap/mocap-LM51-S02-mahui-01p1-Body0.trc",
+      "kind": "data",
+      "original_bytes": 33456337,
+      "packaged_bytes": 33456337,
+      "compressed_video": false,
+      "sha256": "b04ad3d118166398c5df9daee3c570e354ac758a839972d298ce6aa972b2818c"
+    },
+    {
+      "source": "mocap-LM51-S02-mahui-01p1/mocap-LM51-S02-mahui-01p1-LittleBox1.csv",
+      "packaged_as": "mocap/mocap-LM51-S02-mahui-01p1-LittleBox1.csv",
+      "kind": "data",
+      "original_bytes": 5682719,
+      "packaged_bytes": 5682719,
+      "compressed_video": false,
+      "sha256": "93441c2c40c6cbdd63470b8c31dec76dbe5e178780d6cb3dddadd65b05b36974"
+    },
+    {
+      "source": "mocap-LM51-S02-mahui-01p1/mocap-LM51-S02-mahui-01p1-LittleBox1.trc",
+      "packaged_as": "mocap/mocap-LM51-S02-mahui-01p1-LittleBox1.trc",
+      "kind": "data",
+      "original_bytes": 5357882,
+      "packaged_bytes": 5357882,
+      "compressed_video": false,
+      "sha256": "75f19212723996684fe4799661e498de4cb4bb8cc9cb56fb6ad134a7987ad301"
+    },
+    {
+      "source": "mocap-LM51-S02-mahui-01p1/mocap-LM51-S02-mahui-01p1-LittleBox3.csv",
+      "packaged_as": "mocap/mocap-LM51-S02-mahui-01p1-LittleBox3.csv",
+      "kind": "data",
+      "original_bytes": 5643698,
+      "packaged_bytes": 5643698,
+      "compressed_video": false,
+      "sha256": "79c04f2d9a463725e84d60624803190ba785dcd78d85fac0b861de97ba38aab2"
+    },
+    {
+      "source": "mocap-LM51-S02-mahui-01p1/mocap-LM51-S02-mahui-01p1-LittleBox3.trc",
+      "packaged_as": "mocap/mocap-LM51-S02-mahui-01p1-LittleBox3.trc",
+      "kind": "data",
+      "original_bytes": 5565382,
+      "packaged_bytes": 5565382,
+      "compressed_video": false,
+      "sha256": "c0d26dd65dc0f248ee8e21ea10c1c179199a4a8c1632877608cd51cc8cb4f0a1"
+    },
+    {
+      "source": "mocap-LM51-S02-mahui-01p1/mocap-LM51-S02-mahui-01p1-LittleBox5.csv",
+      "packaged_as": "mocap/mocap-LM51-S02-mahui-01p1-LittleBox5.csv",
+      "kind": "data",
+      "original_bytes": 5709544,
+      "packaged_bytes": 5709544,
+      "compressed_video": false,
+      "sha256": "f8f221fd6f248cf766f1af7aa1b36933be555df311b38be03f1dba0aa4df421e"
+    },
+    {
+      "source": "mocap-LM51-S02-mahui-01p1/mocap-LM51-S02-mahui-01p1-LittleBox5.trc",
+      "packaged_as": "mocap/mocap-LM51-S02-mahui-01p1-LittleBox5.trc",
+      "kind": "data",
+      "original_bytes": 5630175,
+      "packaged_bytes": 5630175,
+      "compressed_video": false,
+      "sha256": "b02279c15a1ffc172622f9eb1dc6c5510c49565344795d1093b826cedbe413d3"
+    },
+    {
+      "source": "mocap-LM51-S02-mahui-01p1/mocap-LM51-S02-mahui-01p1-Table.csv",
+      "packaged_as": "mocap/mocap-LM51-S02-mahui-01p1-Table.csv",
+      "kind": "data",
+      "original_bytes": 5525500,
+      "packaged_bytes": 5525500,
+      "compressed_video": false,
+      "sha256": "ffe26ccb3c3bf4c2360aa8aa7d0f5e99d21d29d9355336fc48a34a628e02f444"
+    },
+    {
+      "source": "mocap-LM51-S02-mahui-01p1/mocap-LM51-S02-mahui-01p1-Table.trc",
+      "packaged_as": "mocap/mocap-LM51-S02-mahui-01p1-Table.trc",
+      "kind": "data",
+      "original_bytes": 5534185,
+      "packaged_bytes": 5534185,
+      "compressed_video": false,
+      "sha256": "1a198f665a46e26412b69f1ac8d130a623a1d43ea087b04f7ac6f73212c74ad4"
+    },
+    {
+      "source": "mocap-LM51-S02-mahui-01p1/mocap-LM51-S02-mahui-01p1-Tracker0.csv",
+      "packaged_as": "mocap/mocap-LM51-S02-mahui-01p1-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 5775304,
+      "packaged_bytes": 5775304,
+      "compressed_video": false,
+      "sha256": "707f60aff7c487fe955e6bd0ae02bba3728fa6a784c82ff36093a07780c96cdf"
+    },
+    {
+      "source": "mocap-LM51-S02-mahui-01p1/mocap-LM51-S02-mahui-01p1-Tracker0.trc",
+      "packaged_as": "mocap/mocap-LM51-S02-mahui-01p1-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 5604427,
+      "packaged_bytes": 5604427,
+      "compressed_video": false,
+      "sha256": "f5eeae4977b7e4b22bae73f7141044848a9573105eb290bc93ba6412b16cfba1"
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1589248,
+      "packaged_bytes": 1589248,
+      "compressed_video": false,
+      "sha256": "af47af78370253df18f2f90370b193d56fa18a260f47cde42efcdd95d2661697"
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1531904,
+      "packaged_bytes": 1531904,
+      "compressed_video": false,
+      "sha256": "535d3df2bad68d1174ebd858d08b546faecf5b57611ec95dec4067ddd8b5e84a"
+    },
+    {
+      "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": "38077006307146cf354909e7094776e4fd510d8bbbc5cf018c6744376527465a"
+    },
+    {
+      "source": "robocap_segment1_video_left.mp4",
+      "packaged_as": "robocap_segment1_video_left.mp4",
+      "kind": "video_raw",
+      "original_bytes": 76901990,
+      "packaged_bytes": 76901990,
+      "compressed_video": false,
+      "sha256": "a9d630a9850b0fb6802ed456051455d6e07e285890779286d6afd11638f88535"
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 76685878,
+      "packaged_bytes": 76685878,
+      "compressed_video": false,
+      "sha256": "6166b89193802ab2e384e7d2a7bf25bbd21f73fcf561c1ce756334a5ed388933"
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 76863262,
+      "packaged_bytes": 76863262,
+      "compressed_video": false,
+      "sha256": "04dac3d3d18fa3253d34d473e07b4db1311efc2d87541ab144a13727d1e78dab"
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 77045091,
+      "packaged_bytes": 77045091,
+      "compressed_video": false,
+      "sha256": "a6bd50daed7621d35a04b3a57b713c8ff75d17d1683a6a9392a58e6ddb8501bd"
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 76846508,
+      "packaged_bytes": 76846508,
+      "compressed_video": false,
+      "sha256": "bd2d8745779b2fd8b852e3e915a5226f74d31b7580a5611f8ad085b5d7c49d1e"
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 76916807,
+      "packaged_bytes": 76916807,
+      "compressed_video": false,
+      "sha256": "d952462edcf3cd2ad7794bbb175dfe85b50e4aad03975fb43daff19a9a167ead"
+    },
+    {
+      "source": "robowrist_75b5984e04d1d236_left/robowrist_segment1_imu_left.db",
+      "packaged_as": "robowrist_75b5984e04d1d236_left/robowrist_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1540096,
+      "packaged_bytes": 1540096,
+      "compressed_video": false,
+      "sha256": "e388fa2dac963c53e2ef0af81d9a6f55b8ac47adbf58d7129447864cb59ba10a"
+    },
+    {
+      "source": "robowrist_75b5984e04d1d236_left/robowrist_segment1_mag_left.db",
+      "packaged_as": "robowrist_75b5984e04d1d236_left/robowrist_segment1_mag_left.db",
+      "kind": "data",
+      "original_bytes": 393216,
+      "packaged_bytes": 393216,
+      "compressed_video": false,
+      "sha256": "9bb85bcc0425aaa9cc41cc49efe3622261c45315e85ce106a108e893bdab0d71"
+    },
+    {
+      "source": "robowrist_75b5984e04d1d236_left/robowrist_segment1_video_left_down.mp4",
+      "packaged_as": "robowrist_75b5984e04d1d236_left/robowrist_segment1_video_left_down.mp4",
+      "kind": "video_raw",
+      "original_bytes": 52190398,
+      "packaged_bytes": 52190398,
+      "compressed_video": false,
+      "sha256": "369d47df6fda37040cce819a4a38e712216d555be577e8f486632278b10046ea"
+    },
+    {
+      "source": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_imu_right.db",
+      "packaged_as": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1523712,
+      "packaged_bytes": 1523712,
+      "compressed_video": false,
+      "sha256": "cbec59bbda21bf47dfb2014f22054d6224c16042f434dab75045f2b77772f05c"
+    },
+    {
+      "source": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_mag_right.db",
+      "packaged_as": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_mag_right.db",
+      "kind": "data",
+      "original_bytes": 389120,
+      "packaged_bytes": 389120,
+      "compressed_video": false,
+      "sha256": "9ef44c4b3615d13ead5aa70c3f6ef4f569240d673d1e45a7655d219bdd4c2722"
+    },
+    {
+      "source": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_video_right_down.mp4",
+      "packaged_as": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_video_right_down.mp4",
+      "kind": "video_raw",
+      "original_bytes": 51744329,
+      "packaged_bytes": 51744329,
+      "compressed_video": false,
+      "sha256": "33520109882581225b8316beff5f3d564629938eb9f8e2a1c5d22ab997f3786a"
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 874647,
+      "packaged_bytes": 874601,
+      "compressed_video": false,
+      "sha256": "06a05191ac8e962001428a4417a955bf7121993f5a6cea34317d14b21ba34b12"
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-LM51-S02-mahui-01p1",
+    "action_id": "LM51",
+    "collection_session_index": 2,
+    "participant": "mahui",
+    "repetition_count": 1
+  },
+  "upload_batch_created_at": "2026-10-28T23:46:41.494649+08:00",
+  "participant_gender": "female",
+  "participant_height_cm": 161,
+  "participant_weight_kg": 49,
+  "collection_site": {
+    "id": "site_00",
+    "assignment_method": "env",
+    "catalog": "collection_sites.json"
+  }
+}

actions/locomanipulation/LM51/session_015/raw/mocap/Body0.bvh

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09604ee25573c38740f383f45383b954c4060688a498b8abeea033dc982ac31d
+size 10994259

actions/locomanipulation/LM51/session_015/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f7c91790a2d7724ae4e76d36889063fbbb401e4f2919db6cfaec1c2f2063cfa
+size 151545493

actions/locomanipulation/LM51/session_015/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b04ad3d118166398c5df9daee3c570e354ac758a839972d298ce6aa972b2818c
+size 33456337

actions/locomanipulation/LM51/session_015/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af47af78370253df18f2f90370b193d56fa18a260f47cde42efcdd95d2661697
+size 1589248

actions/locomanipulation/LM51/session_015/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:535d3df2bad68d1174ebd858d08b546faecf5b57611ec95dec4067ddd8b5e84a
+size 1531904

actions/locomanipulation/LM51/session_015/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38077006307146cf354909e7094776e4fd510d8bbbc5cf018c6744376527465a
+size 409600