Release update 2026-11-05: new sessions, instructions, annotations (part 80)

.gitattributes

@@ -48954,3 +48954,23 @@ actions/long_horizon_composite/LH02/session_013/raw/sensors/robowrist_mag_left.d
 actions/long_horizon_composite/LH02/session_013/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
 actions/long_horizon_composite/LH02/session_014/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
 actions/long_horizon_composite/LH02/session_014/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH02/session_014/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH02/session_014/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH02/session_014/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH02/session_014/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH02/session_014/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH02/session_014/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH02/session_014/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH02/session_015/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH02/session_015/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH02/session_015/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH02/session_015/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH02/session_015/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH02/session_015/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH02/session_015/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH02/session_015/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH02/session_015/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH02/session_015/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH02/session_016/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH02/session_016/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH02/session_016/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text

actions/long_horizon_composite/LH02/session_014/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a312d263c9c0fd95d08c68f85822d065aa3b0da53489dbb9a91be3715f8e4960
+size 1511424

actions/long_horizon_composite/LH02/session_014/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b11215c36149e5bc9a54d7d8d154423a111ab55d42afcf4aa7522ed53f73f7f
+size 1458176

actions/long_horizon_composite/LH02/session_014/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4a0e29c0a600620293733b8d012e40bc0ed362884ace21ff1eac7934c7695fa
+size 389120

actions/long_horizon_composite/LH02/session_014/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66a3b422decca6b855ec51bfaee74a41c0c12e9c4effaa8e89a0245855e0f438
+size 1449984

actions/long_horizon_composite/LH02/session_014/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f9186fccb4a569b51168541dff1f75fb7e3ff94b322b45a63275e5208d78add
+size 1454080

actions/long_horizon_composite/LH02/session_014/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56e5330d8a1eb9042233ad7d0f8ba33efd7eb43228a266389459cce6660a88fa
+size 372736

actions/long_horizon_composite/LH02/session_014/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed6bf73f03362d905b1f7ee933e548bc6d8d36980863e2b75691e906b63560a1
+size 372736

actions/long_horizon_composite/LH02/session_014/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d168aca627373a9f5468b775c8726df6109858d4605d3a318e4dd17a24f55b84
+size 1504736

actions/long_horizon_composite/LH02/session_014/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63f890623da3ee9850e4d9f5c9b3e5caa4282e33437414833a7fc25c8db32cae
+size 178110

actions/long_horizon_composite/LH02/session_014/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3df39f7ef0096f734302617a63653e21aaa036843902e8560d4b38a7af81dbf0
+size 1561155

actions/long_horizon_composite/LH02/session_014/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c7d91525450178349ad2a07798a33d2feedf41d383abc033a7822f20985945a
+size 301599

actions/long_horizon_composite/LH02/session_014/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f378bd734a53a8da1a2db7a79fca924083a53a072034c9e3592fe3ea2e48625
+size 285125

actions/long_horizon_composite/LH02/session_014/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03333bc9edaa9deb4a32d89a2ea19306e47ed2e2b27d6045ce45c3c92feed814
+size 72766997

actions/long_horizon_composite/LH02/session_014/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cf57036637f2128eb2d850e3d2e90a6ae541d7692091b2b9b92a571d8b6ec76
+size 70349139

actions/long_horizon_composite/LH02/session_014/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d74ac231100cf9e433b89aecffbedb194fda6c241f1ca7d7cde75fb8a939db6f
+size 72757998

actions/long_horizon_composite/LH02/session_014/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31fea038dd9a76c79a6fc1e13813a72d36c5f770babcd86c35ccf2f520e6ecb3
+size 72734820

actions/long_horizon_composite/LH02/session_014/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bcfca126b226bc0c1fd85fe9e14ce301675817c6ad6377d2c2a17ae6cfaa13b
+size 72733890

actions/long_horizon_composite/LH02/session_014/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc50155c6440eed750e403f437eb4790e1f7ce2937bdff43f3caa132145d4a15
+size 72717896

actions/long_horizon_composite/LH02/session_014/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e673bb6ea19c6492831549296ba9e9cf29849814b6c1a749ce6778d7a1b79c4b
+size 49577025

actions/long_horizon_composite/LH02/session_014/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c019b17c0969c9b2b3cfd0c924806c94274746f059766ddcd99ab13510acc074
+size 43057867

actions/long_horizon_composite/LH02/session_014/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38fda93f2c93a4731e7936849e8d4229d4cfbb9cd8191a10dd1d367793be5208
+size 60127460

actions/long_horizon_composite/LH02/session_015/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea96cbdfe9be7397aab6c43d1946f17bb48d7fa6ac2403daf3d496dc04051033
+size 1466233

actions/long_horizon_composite/LH02/session_015/meta.json

@@ -0,0 +1,559 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261029/LH02/20261029_031822_session32",
+ "session_id": "20261029_031822_session32",
+ "primitive": "LH02",
+ "batch": "20261029",
+ "participant": "zhangxinxin",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e3296774a321bb51",
+  "left": "39042f5fb5da3b12",
+  "right": "65a3481473d6e2a0"
+ },
+ "generated_at_utc": "2026-11-03T05:41:52.158486+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": 169.39166666666668,
+  "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": -0.088268,
+  "rate": 0.0,
+  "global_lag_s": -0.09,
+  "peak_corr": 0.9488,
+  "reference_imu_first_sample_s": 9956.787675325,
+  "windows": {
+   "n_windows": 15,
+   "window_corr_median": 0.9970786442391147,
+   "drift_ppm": -304.14615735189136,
+   "drift_se_ppm": 171.78978318579058,
+   "drift_ms_over_take": -51.51728995278786,
+   "lag_scatter_ms": 26.76100344027433,
+   "lag_range_ms": 120.34963365740361
+  }
+ },
+ "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": 34188,
+    "n_gyro": 34183,
+    "t_start": -0.0952171973097157,
+    "t_end": 169.5881118996892
+   },
+   "imu_head_left": {
+    "n_acc": 34020,
+    "n_gyro": 34014,
+    "t_start": 0.01611542768998872,
+    "t_end": 169.757704668689
+   },
+   "imu_wrist_right": {
+    "n_acc": 34273,
+    "n_gyro": 34285,
+    "t_start": -0.8266802993096226,
+    "t_end": 168.10664808068915
+   },
+   "imu_wrist_left": {
+    "n_acc": 34101,
+    "n_gyro": 34100,
+    "t_start": -0.8701668413107418,
+    "t_end": 168.11036291268985
+   },
+   "mag_head": {
+    "n": 16981,
+    "t_start": 0.11095109468963157,
+    "t_end": 169.91094521669012
+   },
+   "mag_wrist_right": {
+    "n": 16892,
+    "t_start": -0.809068676310084,
+    "t_end": 168.1012268906904
+   },
+   "mag_wrist_left": {
+    "n": 16897,
+    "t_start": -0.8535253173106631,
+    "t_end": 168.10653335368963
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 9956.913121,
+    "frames": 5081,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0025546514432425653,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.03973204113183412,
+    "t_end": 169.37304304113215,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 9956.913092,
+    "frames": 5081,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002366886077403108,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.03951527576803157,
+    "t_end": 169.37280427576817,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 9956.913111,
+    "frames": 5081,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0026728712083183277,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.039840260898677954,
+    "t_end": 169.373151260899,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 9956.913132,
+    "frames": 5081,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002595594493655556,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.03978398418232784,
+    "t_end": 169.37310598418273,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 60.0,
+    "start_device_s": 9956.913102,
+    "frames": 4955,
+    "pts_gaps": 4954,
+    "timing": "pts (gap undecided)",
+    "timeshift_cam_imu_s": 0.002394386090989767,
+    "gap_test": {
+     "pts": {
+      "offset_ms": -2.5,
+      "corr": 0.913,
+      "err_ms": 4.9
+     },
+     "nominal": {
+      "offset_ms": 150.0,
+      "corr": -0.145,
+      "err_ms": 147.6
+     }
+    },
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.03955277578072666,
+    "t_end": 169.37285277578096,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 9956.913077,
+    "frames": 5081,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002315656053021164,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.03944904574175409,
+    "t_end": 169.3727380457419,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 9955.995026,
+    "frames": 5069,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": -0.8809176103098016,
+    "t_end": 168.0524803896894,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 9956.08692,
+    "frames": 5066,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": -0.7890236103105727,
+    "t_end": 168.04463538968932,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-LH02-S01-zhangxinxin-01p2-1.mp4",
+    "frames": 5082,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 169.36666666666667
+   }
+  }
+ },
+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
+ "rig_tracker": {
+  "definition": "e3296774a321bb51/20261029-morning/labels-145230/session-4ea25700ee2859cc",
+  "R_tracker0_imu0": [
+   [
+    -0.6701272,
+    0.12513873,
+    -0.73162138
+   ],
+   [
+    0.72824626,
+    -0.07969112,
+    -0.68066637
+   ],
+   [
+    -0.14348145,
+    -0.98893358,
+    -0.03772863
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   -0.22602701704405284,
+   0.10111036279981712,
+   -0.07423284853811205
+  ],
+  "rig_check": {
+   "gyro_samples": 3804,
+   "gyro_max_deg": 2.5,
+   "status": "video_solve",
+   "dropped_marker": null,
+   "gyro_deg": 1.769,
+   "video_solve": {
+    "status": "ok",
+    "reason": "",
+    "reprojection_px": 3.445,
+    "n_assoc": 298,
+    "gyro_deg": 1.769
+   }
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "canonical": {
+  "generated_at_utc": "2026-11-03T09:17:11.858556+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": [
+   [
+    0.9999999522,
+    -0.0003092869,
+    -1.3091e-06
+   ],
+   [
+    1.3091e-06,
+    0.0084652117,
+    -0.9999641695
+   ],
+   [
+    0.0003092869,
+    0.9999641216,
+    0.0084652117
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.000999999952,
+    -3.09287e-07,
+    -1.309e-09,
+    0.0
+   ],
+   [
+    1.309e-09,
+    8.465212e-06,
+    -0.000999964169,
+    0.0
+   ],
+   [
+    3.09287e-07,
+    0.000999964122,
+    8.465212e-06,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20261029-morning",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.48535032632883635,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 36.2,
+   "headtop_p95_mm": 1631.2
+  },
+  "gravity_check": {
+   "static_samples": 8257,
+   "g_world_mean_m_s2": [
+    0.0518,
+    0.0103,
+    9.7536
+   ],
+   "tilt_from_z_deg": 0.31,
+   "tilt_from_z_deg_before_levelling": 0.533,
+   "magnitude_m_s2": 9.7538
+  },
+  "rig_tracker_definition": "e3296774a321bb51/20261029-morning/labels-145230/session-4ea25700ee2859cc",
+  "rig_check": {
+   "status": "video_solve",
+   "dropped_marker": null,
+   "gyro_deg": 1.769
+  },
+  "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": "2026-11-03T09:44:41.718065+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": [
+      0.07637058198451996,
+      0.01206301525235176,
+      0.026924602687358856
+     ],
+     "LHandOut": [
+      0.06742699444293976,
+      0.01792079769074917,
+      -0.010963560082018375
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.06515789031982422,
+      0.0016431341646239161,
+      0.028929397463798523
+     ],
+     "RHandOut": [
+      -0.059395842254161835,
+      0.03633061423897743,
+      -0.002920102560892701
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 3.31,
+   "p95_frame": 5.61
+  },
+  "worst_markers": [
+   "RElbow 9mm",
+   "RElbowIn 9mm",
+   "CLAV 6mm",
+   "LElbowIn 5mm",
+   "LKneeIn 5mm"
+  ],
+  "valid_fraction": 0.9996,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": -1.6,
+    "p5": -5.1
+   },
+   "frames_checked": 678,
+   "stature_mm": 1627.7
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 11.39
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 18.92,
+    "Q_rotvec": [
+     0.28328,
+     -0.0712,
+     0.154
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 26.3,
+    "opposite_sign_bend_deg": 169.2,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 1.95,
+    "hand_vs_marker_frame_deg": {
+     "before": 18.59,
+     "after": 1.95
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 19.37,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -5.3,
+       2.4
+      ]
+     },
+     "wrist_total_deg_median_after": 18.4,
+     "markers_on_forearm": [
+      "LElbowIn",
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 57.5,
+    "Q_rotvec": [
+     0.94781,
+     0.2705,
+     -0.1891
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 67.0,
+    "opposite_sign_bend_deg": 118.4,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 1.78,
+    "hand_vs_marker_frame_deg": {
+     "before": 57.63,
+     "after": 1.78
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -68.6,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -5.1,
+       6.5
+      ]
+     },
+     "wrist_total_deg_median_after": 16.5,
+     "markers_on_forearm": [
+      "RElbowIn",
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-11-03T09:44:44.995265+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/long_horizon_composite/LH02/session_015",
+  "family": "long_horizon_composite",
+  "primitive": "LH02",
+  "source_session": "20261029/LH02/20261029_031822_session32"
+ },
+ "task": {
+  "primitive": "LH02",
+  "instruction": "1. Read the list the operator gives you. 2. Collect the six items on the list from the shelves. 3. Put them all in the bin on the table. 4. Tell the operator when you are finished."
+ },
+ "objects": [
+  {
+   "name": "LittleBox3",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "LittleBox4",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "LittleBox5",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "LittleBox6",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "Table",
+   "object_type": "Table",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
+}

actions/long_horizon_composite/LH02/session_015/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fdcbb68f22a488b995b5d13b1d3ae568e9dba7319aed85d10dc7ece880f388d
+size 1492659

actions/long_horizon_composite/LH02/session_015/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02317159d420ca4e3823b96fe76211c17f686e95eed5f87ea8c1977e9b800b0a
+size 11635912

actions/long_horizon_composite/LH02/session_015/motions/object_markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5808752a9edaccd3a0523a48a22b52fd4e5352418a75490497de83a825b3d2b4
+size 1632765

actions/long_horizon_composite/LH02/session_015/motions/objects.json

@@ -0,0 +1,124 @@
+{
+ "session": "20261029/LH02/20261029_031822_session32",
+ "generated_at_utc": "2026-11-04T20:24:51.260371+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": "LittleBox3",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 6.03,
+   "verified_pct": 6.01,
+   "moving_pct": 4.29,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox4",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox4",
+    "rms_mm": 0.48
+   },
+   "valid_pct": 54.81,
+   "verified_pct": 54.81,
+   "moving_pct": 10.0,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox5",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox5",
+    "rms_mm": 2.19
+   },
+   "valid_pct": 59.17,
+   "verified_pct": 59.17,
+   "moving_pct": 5.54,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox6",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox6",
+    "rms_mm": 2.18
+   },
+   "valid_pct": 7.24,
+   "verified_pct": 7.22,
+   "moving_pct": 6.62,
+   "vision_source": null
+  },
+  {
+   "name": "Table",
+   "object_type": "Table",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 100.0,
+   "verified_pct": 100.0,
+   "moving_pct": 0.0,
+   "vision_source": null
+  }
+ ],
+ "absent": [],
+ "object_list": {
+  "status": "corrected",
+  "notes": [],
+  "declared": [
+   "LittleBox3",
+   "LittleBox4",
+   "LittleBox5",
+   "LittleBox6",
+   "Table0"
+  ],
+  "listed": [
+   {
+    "name": "LittleBox3",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LittleBox4",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LittleBox5",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LittleBox6",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "Table",
+    "object": null,
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/long_horizon_composite/LH02/session_015/motions/objects.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9e1e9ebf219edc580a029ddb47e68e00655534fe309ecad8a9eeca274b00661
+size 1759281

actions/long_horizon_composite/LH02/session_015/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0670713b061ac57ca7cce723a49bdd58f32f44ad043e7b0cabdc4936bf9917f
+size 11054070

actions/long_horizon_composite/LH02/session_015/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3db9003cfe793808f1ad4f4d3ec317cc1921a32cdf07f69cedea73b48a852738
+size 7723537

actions/long_horizon_composite/LH02/session_015/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a12ed084564df3393ec70eb95c9dca9166ad10162e54fb6fefdae1d44b98aaa
+size 32603598

actions/long_horizon_composite/LH02/session_015/raw/manifest.json

@@ -0,0 +1,374 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-10-31T09:06:58.401424+00:00",
+  "primitive_id": "LH02",
+  "session_id": "20261029_031822_session32",
+  "upload_batch_id": "20261029",
+  "dataset_path": "EgoMotionActions/20261029/LH02/20261029_031822_session32",
+  "segment": "auto/all",
+  "duration_s": 169.333311,
+  "device_ids": {
+    "main": "e3296774a321bb51",
+    "left": "39042f5fb5da3b12",
+    "right": "65a3481473d6e2a0"
+  },
+  "mocap_rigid_names": [
+    "Body0",
+    "LittleBox3",
+    "LittleBox4",
+    "LittleBox5",
+    "LittleBox6",
+    "Table",
+    "Tracker0"
+  ],
+  "objects": [
+    "LittleBox3",
+    "LittleBox4",
+    "LittleBox5",
+    "LittleBox6",
+    "Table0"
+  ],
+  "options": {
+    "raw_video": true,
+    "proxy_height": 540,
+    "proxy_crf": 28,
+    "proxy_bitrate": "1400k",
+    "mocap_selection": "explicit",
+    "mocap_files": [
+      "mocap-LH02-S01-zhangxinxin-01p2/mocap-LH02-S01-zhangxinxin-01p2-1.mp4",
+      "mocap-LH02-S01-zhangxinxin-01p2/mocap-LH02-S01-zhangxinxin-01p2-Body0.bvh",
+      "mocap-LH02-S01-zhangxinxin-01p2/mocap-LH02-S01-zhangxinxin-01p2-Body0.csv",
+      "mocap-LH02-S01-zhangxinxin-01p2/mocap-LH02-S01-zhangxinxin-01p2-Body0.trc",
+      "mocap-LH02-S01-zhangxinxin-01p2/mocap-LH02-S01-zhangxinxin-01p2-LittleBox3.csv",
+      "mocap-LH02-S01-zhangxinxin-01p2/mocap-LH02-S01-zhangxinxin-01p2-LittleBox3.trc",
+      "mocap-LH02-S01-zhangxinxin-01p2/mocap-LH02-S01-zhangxinxin-01p2-LittleBox4.csv",
+      "mocap-LH02-S01-zhangxinxin-01p2/mocap-LH02-S01-zhangxinxin-01p2-LittleBox4.trc",
+      "mocap-LH02-S01-zhangxinxin-01p2/mocap-LH02-S01-zhangxinxin-01p2-LittleBox5.csv",
+      "mocap-LH02-S01-zhangxinxin-01p2/mocap-LH02-S01-zhangxinxin-01p2-LittleBox5.trc",
+      "mocap-LH02-S01-zhangxinxin-01p2/mocap-LH02-S01-zhangxinxin-01p2-LittleBox6.csv",
+      "mocap-LH02-S01-zhangxinxin-01p2/mocap-LH02-S01-zhangxinxin-01p2-LittleBox6.trc",
+      "mocap-LH02-S01-zhangxinxin-01p2/mocap-LH02-S01-zhangxinxin-01p2-Table.csv",
+      "mocap-LH02-S01-zhangxinxin-01p2/mocap-LH02-S01-zhangxinxin-01p2-Table.trc",
+      "mocap-LH02-S01-zhangxinxin-01p2/mocap-LH02-S01-zhangxinxin-01p2-Tracker0.csv",
+      "mocap-LH02-S01-zhangxinxin-01p2/mocap-LH02-S01-zhangxinxin-01p2-Tracker0.trc"
+    ],
+    "include_rrd": false,
+    "rrd_files": [],
+    "aligned_intersection": false
+  },
+  "files": [
+    {
+      "source": "audio_segment1.wav",
+      "packaged_as": "audio_segment1.wav",
+      "kind": "data",
+      "original_bytes": 32603598,
+      "packaged_bytes": 32603598,
+      "compressed_video": false,
+      "sha256": "8a12ed084564df3393ec70eb95c9dca9166ad10162e54fb6fefdae1d44b98aaa"
+    },
+    {
+      "source": "mocap-LH02-S01-zhangxinxin-01p2/mocap-LH02-S01-zhangxinxin-01p2-1.mp4",
+      "packaged_as": "mocap/mocap-LH02-S01-zhangxinxin-01p2-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 86866020,
+      "packaged_bytes": 86866020,
+      "compressed_video": false,
+      "sha256": "71f0386ca2677a3507314dcd680d9f23e91f78ad124217eea087dfbc31c19ff2"
+    },
+    {
+      "source": "mocap-LH02-S01-zhangxinxin-01p2/mocap-LH02-S01-zhangxinxin-01p2-Body0.bvh",
+      "packaged_as": "mocap/mocap-LH02-S01-zhangxinxin-01p2-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 12187299,
+      "packaged_bytes": 12187299,
+      "compressed_video": false,
+      "sha256": "cb56300515ba2cbf3acc8ad17e10f5a86e647d7c66547e0daa431d72d2d8c90b"
+    },
+    {
+      "source": "mocap-LH02-S01-zhangxinxin-01p2/mocap-LH02-S01-zhangxinxin-01p2-Body0.csv",
+      "packaged_as": "mocap/mocap-LH02-S01-zhangxinxin-01p2-Body0.csv",
+      "kind": "data",
+      "original_bytes": 167678343,
+      "packaged_bytes": 167678343,
+      "compressed_video": false,
+      "sha256": "5c8d25f7fab82874135d84311223d5e045613bda84178b15e1aacb019c28e9f2"
+    },
+    {
+      "source": "mocap-LH02-S01-zhangxinxin-01p2/mocap-LH02-S01-zhangxinxin-01p2-Body0.trc",
+      "packaged_as": "mocap/mocap-LH02-S01-zhangxinxin-01p2-Body0.trc",
+      "kind": "data",
+      "original_bytes": 37395837,
+      "packaged_bytes": 37395837,
+      "compressed_video": false,
+      "sha256": "c612e6321fb27835cdba4a3896164b7d04d832c1a03d53d36c8414e0b946aec5"
+    },
+    {
+      "source": "mocap-LH02-S01-zhangxinxin-01p2/mocap-LH02-S01-zhangxinxin-01p2-LittleBox3.csv",
+      "packaged_as": "mocap/mocap-LH02-S01-zhangxinxin-01p2-LittleBox3.csv",
+      "kind": "data",
+      "original_bytes": 5672660,
+      "packaged_bytes": 5672660,
+      "compressed_video": false,
+      "sha256": "893d85ae24fb94271137993718c558325794a7f5d49fe397d4bcf8506e73fa30"
+    },
+    {
+      "source": "mocap-LH02-S01-zhangxinxin-01p2/mocap-LH02-S01-zhangxinxin-01p2-LittleBox3.trc",
+      "packaged_as": "mocap/mocap-LH02-S01-zhangxinxin-01p2-LittleBox3.trc",
+      "kind": "data",
+      "original_bytes": 1630843,
+      "packaged_bytes": 1630843,
+      "compressed_video": false,
+      "sha256": "6f701f3d8147bac8c22ebe44aaffb51ecbf9d0763455efb73270ed1c9b09785a"
+    },
+    {
+      "source": "mocap-LH02-S01-zhangxinxin-01p2/mocap-LH02-S01-zhangxinxin-01p2-LittleBox4.csv",
+      "packaged_as": "mocap/mocap-LH02-S01-zhangxinxin-01p2-LittleBox4.csv",
+      "kind": "data",
+      "original_bytes": 5545423,
+      "packaged_bytes": 5545423,
+      "compressed_video": false,
+      "sha256": "f9a479173d46362d87172d91d130638a65c293f45604eb0236c799a6e5a94043"
+    },
+    {
+      "source": "mocap-LH02-S01-zhangxinxin-01p2/mocap-LH02-S01-zhangxinxin-01p2-LittleBox4.trc",
+      "packaged_as": "mocap/mocap-LH02-S01-zhangxinxin-01p2-LittleBox4.trc",
+      "kind": "data",
+      "original_bytes": 3688446,
+      "packaged_bytes": 3688446,
+      "compressed_video": false,
+      "sha256": "42f93155e1d6d4a409fa4ce989567f37acafe72348353dbb27ba374e18e7d564"
+    },
+    {
+      "source": "mocap-LH02-S01-zhangxinxin-01p2/mocap-LH02-S01-zhangxinxin-01p2-LittleBox5.csv",
+      "packaged_as": "mocap/mocap-LH02-S01-zhangxinxin-01p2-LittleBox5.csv",
+      "kind": "data",
+      "original_bytes": 5151466,
+      "packaged_bytes": 5151466,
+      "compressed_video": false,
+      "sha256": "446ebbbac05e0f8939762bfa028393e35ddd2d7169493b82b45d0e84974c44fa"
+    },
+    {
+      "source": "mocap-LH02-S01-zhangxinxin-01p2/mocap-LH02-S01-zhangxinxin-01p2-LittleBox5.trc",
+      "packaged_as": "mocap/mocap-LH02-S01-zhangxinxin-01p2-LittleBox5.trc",
+      "kind": "data",
+      "original_bytes": 3986375,
+      "packaged_bytes": 3986375,
+      "compressed_video": false,
+      "sha256": "4cdb55503d2f1b40c6df0ffabc4322369c805348707c14250ee66362123a8ffc"
+    },
+    {
+      "source": "mocap-LH02-S01-zhangxinxin-01p2/mocap-LH02-S01-zhangxinxin-01p2-LittleBox6.csv",
+      "packaged_as": "mocap/mocap-LH02-S01-zhangxinxin-01p2-LittleBox6.csv",
+      "kind": "data",
+      "original_bytes": 5755786,
+      "packaged_bytes": 5755786,
+      "compressed_video": false,
+      "sha256": "e5c0d01ac46f3132c3bc150e28d75377e91e62a52f5295a80f22db9a95b8d2b6"
+    },
+    {
+      "source": "mocap-LH02-S01-zhangxinxin-01p2/mocap-LH02-S01-zhangxinxin-01p2-LittleBox6.trc",
+      "packaged_as": "mocap/mocap-LH02-S01-zhangxinxin-01p2-LittleBox6.trc",
+      "kind": "data",
+      "original_bytes": 1126460,
+      "packaged_bytes": 1126460,
+      "compressed_video": false,
+      "sha256": "b3c4770efbb37357ddc7109b587a4e0118bba8b9ad63a471553064084b9f5c3a"
+    },
+    {
+      "source": "mocap-LH02-S01-zhangxinxin-01p2/mocap-LH02-S01-zhangxinxin-01p2-Table.csv",
+      "packaged_as": "mocap/mocap-LH02-S01-zhangxinxin-01p2-Table.csv",
+      "kind": "data",
+      "original_bytes": 6124042,
+      "packaged_bytes": 6124042,
+      "compressed_video": false,
+      "sha256": "cf4a0238e3a0b19592a74ab01c078eab48e770fbb63a4a81a393e249cb834c8c"
+    },
+    {
+      "source": "mocap-LH02-S01-zhangxinxin-01p2/mocap-LH02-S01-zhangxinxin-01p2-Table.trc",
+      "packaged_as": "mocap/mocap-LH02-S01-zhangxinxin-01p2-Table.trc",
+      "kind": "data",
+      "original_bytes": 6115245,
+      "packaged_bytes": 6115245,
+      "compressed_video": false,
+      "sha256": "5f52685578de76a85bdde6f5e46ffcb39df5a90f31b957afa81700020e06d942"
+    },
+    {
+      "source": "mocap-LH02-S01-zhangxinxin-01p2/mocap-LH02-S01-zhangxinxin-01p2-Tracker0.csv",
+      "packaged_as": "mocap/mocap-LH02-S01-zhangxinxin-01p2-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 6431210,
+      "packaged_bytes": 6431210,
+      "compressed_video": false,
+      "sha256": "a02a5626c6346afd6d56467b2fd1953f2057a4c6d9d2de4ed3fc18fe37e67d77"
+    },
+    {
+      "source": "mocap-LH02-S01-zhangxinxin-01p2/mocap-LH02-S01-zhangxinxin-01p2-Tracker0.trc",
+      "packaged_as": "mocap/mocap-LH02-S01-zhangxinxin-01p2-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 6269755,
+      "packaged_bytes": 6269755,
+      "compressed_video": false,
+      "sha256": "d0cedac6291feb6deac68420db9af59ae85b67cd6f7d99854a1c6c7649cd8a93"
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1740800,
+      "packaged_bytes": 1740800,
+      "compressed_video": false,
+      "sha256": "a059a3748620ca4f3fb540f13c89ec0d04426b9937303407e5e3c8588aa36f40"
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1683456,
+      "packaged_bytes": 1683456,
+      "compressed_video": false,
+      "sha256": "6bf90ba8576cb1c5a2da2c2eff70388a6dff56d3541631da31815afe0a1fb97d"
+    },
+    {
+      "source": "robocap_segment1_mag_middle.db",
+      "packaged_as": "robocap_segment1_mag_middle.db",
+      "kind": "data",
+      "original_bytes": 446464,
+      "packaged_bytes": 446464,
+      "compressed_video": false,
+      "sha256": "1df4bced1232f46562feb60c09ba8ebdab1d4be02c2866f804402f2ed6c9286d"
+    },
+    {
+      "source": "robocap_segment1_video_left.mp4",
+      "packaged_as": "robocap_segment1_video_left.mp4",
+      "kind": "video_raw",
+      "original_bytes": 84930369,
+      "packaged_bytes": 84930369,
+      "compressed_video": false,
+      "sha256": "6fdd40e1e192ce0241dda5abce96910bee90677d4192df2d68bae742c5ef61c1"
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 82633267,
+      "packaged_bytes": 82633267,
+      "compressed_video": false,
+      "sha256": "4f9c24e339834f5464e7bc91e354124b68e8da611e4f2fc3487d18372b4e0c6d"
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 84942925,
+      "packaged_bytes": 84942925,
+      "compressed_video": false,
+      "sha256": "95eeaede139155d725a3f17cd45e8f087e45cc4ee484e9fc81b668fca23b35c7"
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 84919110,
+      "packaged_bytes": 84919110,
+      "compressed_video": false,
+      "sha256": "591e797cf6cb944405023468ba6cfd04b1787769c44a829bd1d9e5290da98e0a"
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 84885886,
+      "packaged_bytes": 84885886,
+      "compressed_video": false,
+      "sha256": "9767895a28c3ea06f46d3c4fb33d9f2c226697dc90fb24ba3e99e372be9bdf36"
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 84948818,
+      "packaged_bytes": 84948818,
+      "compressed_video": false,
+      "sha256": "41262db5535806a61955dbd4bd5955637572aa8a3b8edeb186b3090291a18fec"
+    },
+    {
+      "source": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_imu_left.db",
+      "packaged_as": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1683456,
+      "packaged_bytes": 1683456,
+      "compressed_video": false,
+      "sha256": "450a1c0dc77446e15fb29548493030da1b480df88180be043f172afecf5cfb57"
+    },
+    {
+      "source": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_mag_left.db",
+      "packaged_as": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_mag_left.db",
+      "kind": "data",
+      "original_bytes": 430080,
+      "packaged_bytes": 430080,
+      "compressed_video": false,
+      "sha256": "bd2c092bac9c25827eefb422fd62458772b8d1bd91e2b719c33a9cc45ba7f837"
+    },
+    {
+      "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": 65385124,
+      "packaged_bytes": 65385124,
+      "compressed_video": false,
+      "sha256": "138e003693787db0d8d09aae94136e3037b4d30ffd82013fac274c3eecce643e"
+    },
+    {
+      "source": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_imu_right.db",
+      "packaged_as": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1687552,
+      "packaged_bytes": 1687552,
+      "compressed_video": false,
+      "sha256": "45469b2697530d9285aa4fbb86f5eaad7bb9aba0fca517c8d466e183d49984ab"
+    },
+    {
+      "source": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_mag_right.db",
+      "packaged_as": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_mag_right.db",
+      "kind": "data",
+      "original_bytes": 430080,
+      "packaged_bytes": 430080,
+      "compressed_video": false,
+      "sha256": "bd3b5a31e28a6986f7a8469fa5d6c7cd3628caa87ff073ac0925eecf99cd371f"
+    },
+    {
+      "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": 56436140,
+      "packaged_bytes": 56436140,
+      "compressed_video": false,
+      "sha256": "48bd2066dd123d9938593beb6c398857cab59a01aacab334bfdc562bd6ffcd00"
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 25728901,
+      "packaged_bytes": 25728855,
+      "compressed_video": false,
+      "sha256": "72551cdaf206c865fbdea621b433a86cb825f897ae3d05233c063c04e2c002ab"
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-LH02-S01-zhangxinxin-01p2",
+    "action_id": "LH02",
+    "collection_session_index": 1,
+    "participant": "zhangxinxin",
+    "repetition_count": 1
+  },
+  "upload_batch_created_at": "2026-10-31T17:34:19.915914+08:00",
+  "participant_gender": "female",
+  "participant_height_cm": 160,
+  "participant_weight_kg": 60,
+  "collection_site": {
+    "id": "site_00",
+    "assignment_method": "env",
+    "catalog": "collection_sites.json"
+  }
+}

actions/long_horizon_composite/LH02/session_015/raw/mocap/Body0.bvh

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb56300515ba2cbf3acc8ad17e10f5a86e647d7c66547e0daa431d72d2d8c90b
+size 12187299

actions/long_horizon_composite/LH02/session_015/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c8d25f7fab82874135d84311223d5e045613bda84178b15e1aacb019c28e9f2
+size 167678343

actions/long_horizon_composite/LH02/session_015/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c612e6321fb27835cdba4a3896164b7d04d832c1a03d53d36c8414e0b946aec5
+size 37395837

actions/long_horizon_composite/LH02/session_015/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a059a3748620ca4f3fb540f13c89ec0d04426b9937303407e5e3c8588aa36f40
+size 1740800

actions/long_horizon_composite/LH02/session_015/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bf90ba8576cb1c5a2da2c2eff70388a6dff56d3541631da31815afe0a1fb97d
+size 1683456