Release update 2026-11-05: 5760 sessions, instructions, annotations (part 131)

.gitattributes

@@ -42441,3 +42441,18 @@ actions/human_human_locomanipulation/HH05/session_009/raw/sensors/robowrist_imu_
 actions/human_human_locomanipulation/HH05/session_009/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/human_human_locomanipulation/HH05/session_009/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/human_human_locomanipulation/HH05/session_009/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH06/session_009/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH06/session_009/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH06/session_009/raw/mocap/Body1.csv filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH06/session_009/raw/mocap/Body1.trc filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH06/session_009/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH06/session_009/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH06/session_009/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH06/session_009/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH06/session_009/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH06/session_009/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH06/session_009/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH06/session_010/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH06/session_010/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH06/session_010/raw/mocap/Body1.csv filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH06/session_010/raw/mocap/Body1.trc filter=lfs diff=lfs merge=lfs -text

actions/human_human_locomanipulation/HH06/session_008/annotations.json

@@ -0,0 +1,105 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "HH06",
+ "instruction": "Hand the object to your partner. They will be looking away, so you will have to get their attention and place it into their hand. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 150.0999,
+   "video": "left_eye",
+   "video_t_start": 0.03987869055308642
+  }
+ ],
+ "episodes": [
+  {
+   "id": "7549d028-1ba2-469d-94a0-f3619453a044",
+   "segment": "segment1",
+   "action": "HH06",
+   "quality": "valid",
+   "start_s": 1.328,
+   "end_s": 15.704,
+   "t_start": 1.3679,
+   "t_end": 15.7439,
+   "instruction": "Hand the object to your partner. They will be looking away, so you will have to get their attention and place it into their hand. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "42a226ad-50c3-4e47-b679-7d3a8f8f4b7c",
+   "segment": "segment1",
+   "action": "HH06",
+   "quality": "valid",
+   "start_s": 25.049,
+   "end_s": 32.22,
+   "t_start": 25.0889,
+   "t_end": 32.2599,
+   "instruction": "Hand the object to your partner. They will be looking away, so you will have to get their attention and place it into their hand. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "48df7f61-e96f-488c-8385-4b8ebe46e105",
+   "segment": "segment1",
+   "action": "HH06",
+   "quality": "valid",
+   "start_s": 35.815,
+   "end_s": 50.21,
+   "t_start": 35.8549,
+   "t_end": 50.2499,
+   "instruction": "Hand the object to your partner. They will be looking away, so you will have to get their attention and place it into their hand. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "44218fea-8d7e-46f4-9f35-95402ddb735f",
+   "segment": "segment1",
+   "action": "HH06",
+   "quality": "valid",
+   "start_s": 61.288,
+   "end_s": 67.215,
+   "t_start": 61.3279,
+   "t_end": 67.2549,
+   "instruction": "Hand the object to your partner. They will be looking away, so you will have to get their attention and place it into their hand. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "fafc6ee2-6a9b-47d0-8fce-629503d3577f",
+   "segment": "segment1",
+   "action": "HH06",
+   "quality": "valid",
+   "start_s": 71.441,
+   "end_s": 85.86,
+   "t_start": 71.4809,
+   "t_end": 85.8999,
+   "instruction": "Hand the object to your partner. They will be looking away, so you will have to get their attention and place it into their hand. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "eb89929f-243b-4ef0-bbe5-3fff31721ef0",
+   "segment": "segment1",
+   "action": "HH06",
+   "quality": "valid",
+   "start_s": 96.695,
+   "end_s": 102.525,
+   "t_start": 96.7349,
+   "t_end": 102.5649,
+   "instruction": "Hand the object to your partner. They will be looking away, so you will have to get their attention and place it into their hand. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "9e430b67-1fef-4eae-9243-655c5d0c8fd5",
+   "segment": "segment1",
+   "action": "HH06",
+   "quality": "valid",
+   "start_s": 105.733,
+   "end_s": 120.47,
+   "t_start": 105.7729,
+   "t_end": 120.5099,
+   "instruction": "Hand the object to your partner. They will be looking away, so you will have to get their attention and place it into their hand. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "f2e4caf8-0374-4346-ae57-f7b49b4c4347",
+   "segment": "segment1",
+   "action": "HH06",
+   "quality": "valid",
+   "start_s": 133.452,
+   "end_s": 145.185,
+   "t_start": 133.4919,
+   "t_end": 145.2249,
+   "instruction": "Hand the object to your partner. They will be looking away, so you will have to get their attention and place it into their hand. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  }
+ ]
+}

actions/human_human_locomanipulation/HH06/session_008/cameras/gsi_online_calibration.json

@@ -0,0 +1,257 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.317
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.6911,
+   "gate_fail": [],
+   "held_out_px_after": 0.413,
+   "held_out_px_before": 22.108,
+   "inliers": 1587,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.0344,
+    -0.2554,
+    -1.3132
+   ],
+   "split_deg": 0.0492,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.2255,
+   "gate_fail": [],
+   "held_out_px_after": 0.359,
+   "held_out_px_before": 8.327,
+   "inliers": 3182,
+   "position_fitted": true,
+   "position_mm": [
+    1.74,
+    -24.27,
+    -4.22
+   ],
+   "position_sigma_mm": 0.161,
+   "position_split_mm": 2.155,
+   "rotvec_deg": [
+    1.6598,
+    -0.7147,
+    1.299
+   ],
+   "split_deg": 0.0413,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.8977,
+   "gate_fail": [],
+   "held_out_px_after": 0.534,
+   "held_out_px_before": 13.768,
+   "inliers": 1922,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.8257,
+    -1.2221,
+    3.2196
+   ],
+   "split_deg": 0.1038,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.8944,
+   "gate_fail": [],
+   "held_out_px_after": 0.319,
+   "held_out_px_before": 6.16,
+   "inliers": 3476,
+   "position_fitted": true,
+   "position_mm": [
+    1.76,
+    -21.25,
+    -1.7
+   ],
+   "position_sigma_mm": 0.166,
+   "position_split_mm": 1.744,
+   "rotvec_deg": [
+    1.6636,
+    -1.3629,
+    1.9372
+   ],
+   "split_deg": 0.0169,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.5629,
+   "gate_fail": [],
+   "held_out_px_after": 0.286,
+   "held_out_px_before": 2.231,
+   "inliers": 5410,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2422,
+    -0.4206,
+    -0.2851
+   ],
+   "split_deg": 0.0055,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "83cf3f1d2a9441a6c8a926da8c0988b8c6fd9b92755fead1b960cb056a3cd9b3",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "2ceb0f8213e973b489b67acca4f6b2f5114e685952ab494aeed9cbfe79ae8fe1",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "1a1a0ec7d3beac21eac4ed905e57f99a9215c6300715b249ccbc0a79cda88b4e",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "ba187926ba058432eba1369caa284d04a6d91d4f300aa5c666bce32228b1a0fe",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "69495bdc9346a34f",
+ "kind": "online_calibration",
+ "output_sha256": "61b29916c7d006d841fe1c548f1bd725d2fa77b52216143cce5005a32e50c8cb",
+ "overlap": {
+  "left-right": 0.5,
+  "left_eye-left": 0.695,
+  "left_eye-right": 0.702,
+  "left_front-left": 0.506,
+  "left_front-left_eye": 0.692,
+  "left_front-right": 0.458,
+  "left_front-right_eye": 0.698,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.699,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.706,
+  "right_front-left": 0.49,
+  "right_front-left_eye": 0.697,
+  "right_front-right": 0.464,
+  "right_front-right_eye": 0.704
+ },
+ "picture_change": {
+  "left": 42.44,
+  "left_eye": 42.957,
+  "left_front": 51.437,
+  "right": 44.129,
+  "right_eye": 43.149,
+  "right_front": 51.48
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   12086936531888,
+   12087936531888,
+   12090936531888,
+   12091936543000,
+   12096936554111,
+   12097936687444,
+   12099936531888,
+   12100936543000,
+   12104936531888,
+   12105936531888,
+   12111936531888,
+   12112936676333,
+   12115936676333,
+   12116936676333,
+   12119936554111,
+   12120936576333,
+   12123936565222,
+   12124936531888,
+   12130936554111,
+   12131936543000,
+   12134936554111,
+   12135936698555,
+   12136936543000,
+   12137936565222,
+   12145936543000,
+   12146936554111,
+   12149936698555,
+   12150936543000,
+   12151936554111,
+   12152936554111,
+   12160936543000,
+   12161936565222,
+   12165936531888,
+   12166936531888,
+   12169936543000,
+   12170936554111,
+   12173936554111,
+   12174936531888,
+   12176936531888,
+   12177936554111,
+   12183936554111,
+   12184936565222,
+   12185936609666,
+   12186936554111,
+   12194936531888,
+   12195936620777,
+   12196936531888,
+   12203936554111,
+   12204936554111,
+   12208936554111,
+   12209936554111,
+   12211936554111,
+   12212936554111,
+   12219936554111,
+   12220936543000,
+   12221936554111,
+   12226936543000,
+   12227936543000
+  ]
+ },
+ "version": 1
+}

actions/human_human_locomanipulation/HH06/session_008/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0afb99f6213f3108772e3ebc8262c06dcbdf02168efdca0a2cb0b336972ce8b
+size 853938

actions/human_human_locomanipulation/HH06/session_008/meta.json

@@ -288,44 +288,44 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
  "canonical": {
-  "generated_at_utc": "2026-10-27T06:43:05.798590+00:00",
+  "generated_at_utc": "2026-10-28T23:22:12.451766+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": [
    [
-    0.9999374706,
-    0.0111827925,
-    -4.351e-06
+    0.9999789449,
+    0.0064891782,
+    1.5185e-05
    ],
    [
-    4.351e-06,
-    -0.0007781413,
-    -0.9999996972
+    -1.5185e-05,
+    0.0046800169,
+    -0.9999890485
    ],
    [
-    -0.0111827925,
-    0.9999371678,
-    -0.0007781413
+    -0.0064891782,
+    0.9999679935,
+    0.0046800169
    ]
   ],
   "scale_nokov_to_canon": 0.001,
   "T_canon_nokov_mm": [
    [
-    0.000999937471,
-    1.1182793e-05,
-    -4.351e-09,
+    0.000999978945,
+    6.489178e-06,
+    1.5185e-08,
     0.0
    ],
    [
-    4.351e-09,
-    -7.78141e-07,
-    -0.000999999697,
+    -1.5185e-08,
+    4.680017e-06,
+    -0.000999989049,
     0.0
    ],
    [
-    -1.1182793e-05,
-    0.000999937168,
-    -7.78141e-07,
+    -6.489178e-06,
+    0.000999967993,
+    4.680017e-06,
     0.0
    ],
    [
@@ -337,20 +337,20 @@
   ],
   "block": "20261026-afternoon",
   "block_assignment": "trc",
-  "tilt_removed_deg": 0.6422895637056524,
+  "tilt_removed_deg": 0.458414067009704,
   "plane_status": "ok",
   "floor": {
-   "sole_marker_p1_mm": 37.0,
-   "headtop_p95_mm": 1565.6
+   "sole_marker_p1_mm": 40.9,
+   "headtop_p95_mm": 1571.2
   },
   "gravity_check": {
    "static_samples": 13712,
    "g_world_mean_m_s2": [
-    -0.1408,
-    0.0371,
-    9.7866
+    -0.1868,
+    0.0905,
+    9.7855
    ],
-   "tilt_from_z_deg": 0.853,
+   "tilt_from_z_deg": 1.215,
    "tilt_from_z_deg_before_levelling": 1.488,
    "magnitude_m_s2": 9.7877
   },
@@ -370,7 +370,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-27T07:49:44.381846+00:00",
+  "generated_at_utc": "2026-10-29T04:49:49.722177+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -379,8 +379,8 @@
   "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": {
@@ -433,8 +433,8 @@
   "valid_fraction": 0.9887,
   "qc": {
    "lowest_vertex_mm": {
-    "median": -9.5,
-    "p5": -12.1
+    "median": -0.7,
+    "p5": -7.9
    },
    "frames_checked": 594,
    "stature_mm": 1582.0
@@ -449,19 +449,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 180.0,
+    "Q_deg": 33.53,
     "Q_rotvec": [
-     2.98447,
-     -0.44488,
-     -0.87443
+     0.33974,
+     -0.23644,
+     0.41369
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 169.4,
-    "opposite_sign_bend_deg": 42.8,
+    "wrist_bend_deg_median": 53.3,
+    "opposite_sign_bend_deg": 134.8,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 3.52,
     "hand_vs_marker_frame_deg": {
-     "before": 176.63,
+     "before": 33.01,
      "after": 3.52
     },
     "markers_on_wrist": [
@@ -471,15 +471,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -165.45,
+     "twist_moved_deg": 55.82,
      "wrist_twist_deg_after": {
-      "median": -10.62,
+      "median": -0.0,
       "iqr": [
-       -27.6,
-       -4.4
+       -17.0,
+       6.2
       ]
      },
-     "wrist_total_deg_median_after": 16.9,
+     "wrist_total_deg_median_after": 15.1,
      "markers_on_forearm": [
       "LForearm"
      ]
@@ -488,19 +488,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 0.0,
+    "Q_deg": 33.59,
     "Q_rotvec": [
-     -0.0,
-     0.0,
-     -0.0
+     0.38752,
+     0.41514,
+     -0.14556
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 23.0,
-    "opposite_sign_bend_deg": 170.4,
+    "wrist_bend_deg_median": 66.7,
+    "opposite_sign_bend_deg": 122.8,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 3.43,
     "hand_vs_marker_frame_deg": {
-     "before": 3.43,
+     "before": 34.16,
      "after": 3.43
     },
     "markers_on_wrist": [
@@ -508,9 +508,9 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -0.0,
+     "twist_moved_deg": -63.41,
      "wrist_twist_deg_after": {
-      "median": 0.0,
+      "median": -0.0,
       "iqr": [
        -10.6,
        12.4
@@ -526,16 +526,130 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-28T06:50:28.117649+00:00",
+   "generated_at_utc": "2026-10-29T04:49:52.884485+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 3.31,
+    "offset_rotvec": [
+     0.0483,
+     -0.0081,
+     -0.0308
+    ],
+    "dev_deg": {
+     "median": 21.82,
+     "p90": 32.11
+    },
+    "samples": 4096,
+    "accepted": 3451,
+    "wrist_pos_err_mm_median": 308.7,
+    "per_camera": {
+     "head": {
+      "samples": 4096,
+      "accepted": 3451,
+      "gate_deg": 30.0,
+      "offset_deg": 3.31,
+      "tier": "primary",
+      "dev_deg_median": 21.82,
+      "wrist_pos_err_mm_median": 308.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14010,
+     "interpolated": 2886,
+     "mean_hand": 920,
+     "no_body_fit": 204
+    },
+    "observed_fraction": 0.9376,
+    "observed_fraction_of_valid": 0.9484,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 22.36,
+     "smplx": 3.54
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 16.1,
+      "p90": 23.5
+     },
+     "registered": {
+      "median": 15.4,
+      "p90": 22.6
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 21.76,
+    "offset_rotvec": [
+     -0.2498,
+     -0.2821,
+     -0.0476
+    ],
+    "dev_deg": {
+     "median": 13.98,
+     "p90": 27.59
+    },
+    "samples": 4196,
+    "accepted": 3847,
+    "wrist_pos_err_mm_median": 279.0,
+    "per_camera": {
+     "head": {
+      "samples": 4196,
+      "accepted": 3847,
+      "gate_deg": 30.0,
+      "offset_deg": 21.76,
+      "tier": "primary",
+      "dev_deg_median": 13.98,
+      "wrist_pos_err_mm_median": 279.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15569,
+     "interpolated": 1930,
+     "mean_hand": 317,
+     "no_body_fit": 204
+    },
+    "observed_fraction": 0.9711,
+    "observed_fraction_of_valid": 0.9822,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 25.45,
+     "smplx": 3.05
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 16.0,
+      "p90": 26.1
+     },
+     "registered": {
+      "median": 15.3,
+      "p90": 24.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:32:12.787701+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/human_human_locomanipulation/HH06/session_008",
   "family": "human_human_locomanipulation",
   "primitive": "HH06",
   "source_session": "20261026/HH06/20261026_081455_session49"
  },
+ "task": {
+  "primitive": "HH06",
+  "instruction": "Hand the object to your partner. They will be looking away, so you will have to get their attention and place it into their hand. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+ },
  "objects": [
   {
    "name": "BigBox2",

actions/human_human_locomanipulation/HH06/session_008/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fddfd9bb7ae024c8dde4259c054f8cdf34553c09ee3f4dc12923c38abc7f53f3
+size 5638822

actions/human_human_locomanipulation/HH06/session_008/motions/head_rig.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b338078a9088185468882fd7dc32b82c9e9173cdad54b360c96e4be1c1ce4f3b
-size 1300458
+oid sha256:4c70a700beac9266d66ce90984c2683d250dfbd2ed6f605b9d94527c039e0a88
+size 1300764

actions/human_human_locomanipulation/HH06/session_008/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:40988b5a3c0206c7e0c0bbbee1e6cec11f23a346f0806c2de203db232f23fe37
-size 6728594
+oid sha256:4898abd3af56c82d7f710abfafb65ae5c997743eaf97f8ed667d0a268c2e61b7
+size 12578078

actions/human_human_locomanipulation/HH06/session_009/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08ff891fb9f0a27f975c426a65f9d9e5072237d3c66a70ab6ed110592358aae8
+size 1133558

actions/human_human_locomanipulation/HH06/session_009/meta.json

@@ -0,0 +1,587 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261027/HH06/20261027_072008_session8",
+ "session_id": "20261027_072008_session8",
+ "primitive": "HH06",
+ "batch": "20261027",
+ "participant": "gaoziyue",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "c9205ac6e17d2d5c",
+  "left": "452031d7af00ef6f",
+  "right": "60a6f081bbe60b0d"
+ },
+ "generated_at_utc": "2026-10-28T19:45:18.292144+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": 130.95833333333334,
+  "mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
+ },
+ "alignment": {
+  "reference_imu": "imu_head_right",
+  "model": "offset (median of windows)",
+  "mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
+  "offset_s": -0.085332,
+  "rate": 0.0,
+  "global_lag_s": -0.085,
+  "peak_corr": 0.9949,
+  "reference_imu_first_sample_s": 2394.660613576,
+  "windows": {
+   "n_windows": 12,
+   "window_corr_median": 0.9954384496873105,
+   "drift_ppm": 0.40106129457234513,
+   "drift_se_ppm": 6.66618850809714,
+   "drift_ms_over_take": 0.05251897652424859,
+   "lag_scatter_ms": 0.7277043756020568,
+   "lag_range_ms": 2.2442946817756715
+  }
+ },
+ "units": {
+  "mocap": "millimetres, Nokov world, Y-up (unchanged)",
+  "y_up_to_z_up": [
+   [
+    1.0,
+    0.0,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   [
+    0.0,
+    1.0,
+    0.0
+   ]
+  ],
+  "acc": "m/s^2 (8192 LSB/g)",
+  "gyro": "rad/s (65.536 LSB/dps)",
+  "mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
+  "quaternions": "xyzw, Nokov global"
+ },
+ "calibration": {
+  "device": "c9205ac6e17d2d5c",
+  "status": "ok",
+  "date": "2026-10-21"
+ },
+ "streams": {
+  "sensors": {
+   "imu_head_right": {
+    "n_acc": 26641,
+    "n_gyro": 26636,
+    "t_start": -0.09223105437344459,
+    "t_end": 131.1393161086265
+   },
+   "imu_head_left": {
+    "n_acc": 26476,
+    "n_gyro": 26470,
+    "t_start": 0.024501678626490664,
+    "t_end": 131.3066539476266
+   },
+   "imu_wrist_right": {
+    "n_acc": 26486,
+    "n_gyro": 26485,
+    "t_start": -0.8413925803735245,
+    "t_end": 130.05194598262628
+   },
+   "imu_wrist_left": {
+    "n_acc": 26526,
+    "n_gyro": 26526,
+    "t_start": -0.9550540873734852,
+    "t_end": 130.04899008162633
+   },
+   "mag_head": {
+    "n": 13138,
+    "t_start": 0.10291786262619751,
+    "t_end": 131.47292929962654
+   },
+   "mag_wrist_right": {
+    "n": 13088,
+    "t_start": -0.8240296203736241,
+    "t_end": 130.0452219506263
+   },
+   "mag_wrist_left": {
+    "n": 13100,
+    "t_start": -0.9470451533735675,
+    "t_end": 130.0419907236263
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 2394.782851,
+    "frames": 3928,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0026284356473863946,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.03953349127355721,
+    "t_end": 130.93950049127338,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 2394.782824,
+    "frames": 3928,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0024181146161434135,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.03929617024219367,
+    "t_end": 130.93926317024201,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 2394.782842,
+    "frames": 3928,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002458947067077895,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.0393550026936802,
+    "t_end": 130.9393220026935,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 2394.782863,
+    "frames": 3928,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0021420814739499558,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.03905913710046405,
+    "t_end": 130.93902613710029,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 60.0,
+    "start_device_s": 2394.782834,
+    "frames": 3759,
+    "pts_gaps": 3758,
+    "timing": "pts (gap undecided)",
+    "timeshift_cam_imu_s": 0.002801984596191448,
+    "gap_test": {
+     "pts": {
+      "offset_ms": -9.1,
+      "corr": 0.821,
+      "err_ms": 11.9
+     },
+     "nominal": {
+      "offset_ms": 150.0,
+      "corr": 0.122,
+      "err_ms": 147.2
+     }
+    },
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.03969004022279221,
+    "t_end": 130.9562900402228,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 2394.782811,
+    "frames": 3928,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002930366888236734,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.039795422514868894,
+    "t_end": 130.93975142251506,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 2393.78747,
+    "frames": 3930,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": -0.9584759443734063,
+    "t_end": 130.00721405562658,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 2393.900977,
+    "frames": 3926,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": -0.8449689443738342,
+    "t_end": 129.987583055626,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-HH06-S01-gaoziyue-02p1-1.mp4",
+    "frames": 3929,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 130.93333333333334
+   }
+  },
+  "mocap_body1": {
+   "file": "mocap_body1.npz",
+   "frames": 15716,
+   "solved_fraction": 0.9996,
+   "note": "second person (no ego cameras), Body1 of the same take, same time base as mocap.npz"
+  }
+ },
+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
+ "rig_tracker": {
+  "definition": "c9205ac6e17d2d5c/20261027-afternoon/labels-053142/session-d1dbbe3003ba4f88",
+  "R_tracker0_imu0": [
+   [
+    -0.67671372,
+    0.09560779,
+    -0.73001212
+   ],
+   [
+    0.73331363,
+    -0.00088389,
+    -0.67988995
+   ],
+   [
+    -0.06564802,
+    -0.99541869,
+    -0.06951235
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   -0.18017658635482892,
+   -0.014910665334015645,
+   -0.00888227684503734
+  ],
+  "rig_check": {
+   "gyro_samples": 4992,
+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 1.76
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-28T23:23:13.372977+00:00",
+  "generated_by": "scripts/canonicalise_dataset.py",
+  "frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
+  "R_canon_nokov": [
+   [
+    0.9999951019,
+    0.0031298597,
+    1.01836e-05
+   ],
+   [
+    -1.01836e-05,
+    0.0065073133,
+    -0.9999788272
+   ],
+   [
+    -0.0031298597,
+    0.9999739291,
+    0.0065073133
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.000999995102,
+    3.12986e-06,
+    1.0184e-08,
+    0.0
+   ],
+   [
+    -1.0184e-08,
+    6.507313e-06,
+    -0.000999978827,
+    0.0
+   ],
+   [
+    -3.12986e-06,
+    0.000999973929,
+    6.507313e-06,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20261027-afternoon",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.413729700581665,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 27.1,
+   "headtop_p95_mm": 1640.2
+  },
+  "gravity_check": {
+   "static_samples": 6133,
+   "g_world_mean_m_s2": [
+    0.1407,
+    -0.013,
+    9.7932
+   ],
+   "tilt_from_z_deg": 0.827,
+   "tilt_from_z_deg_before_levelling": 0.785,
+   "magnitude_m_s2": 9.7942
+  },
+  "rig_tracker_definition": "c9205ac6e17d2d5c/20261027-afternoon/labels-053142/session-d1dbbe3003ba4f88",
+  "rig_check": {
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 1.76
+  },
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz",
+   "mocap_body1_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-29T09:15:33.203449+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": [
+      0.04356472194194794,
+      0.018849613144993782,
+      0.013238013722002506
+     ],
+     "LHandOut": [
+      0.03860645368695259,
+      -0.003482719650492072,
+      -0.03833290934562683
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.04847794771194458,
+      -0.02669464610517025,
+      0.00806419737637043
+     ],
+     "RHandOut": [
+      -0.06728024035692215,
+      0.02171517349779606,
+      0.00041023510857485235
+     ],
+     "RWristOut": [
+      0.0035268014762550592,
+      0.0315813384950161,
+      0.019769227132201195
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 4.05,
+   "p95_frame": 10.77
+  },
+  "worst_markers": [
+   "RWristIn 12mm",
+   "RForearm 12mm",
+   "LElbowIn 10mm",
+   "RWristOut 9mm",
+   "LKneeIn 9mm"
+  ],
+  "valid_fraction": 0.9996,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 25.4,
+    "p5": 9.4
+   },
+   "frames_checked": 524,
+   "stature_mm": 1598.8
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 12.86
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 21.62,
+    "Q_rotvec": [
+     -0.31435,
+     -0.188,
+     0.09054
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 13.9,
+    "opposite_sign_bend_deg": 173.3,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 4.55,
+    "hand_vs_marker_frame_deg": {
+     "before": 22.19,
+     "after": 4.55
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -4.68,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -6.9,
+       11.4
+      ]
+     },
+     "wrist_total_deg_median_after": 15.5,
+     "markers_on_forearm": [
+      "LElbowIn",
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 92.6,
+    "Q_rotvec": [
+     1.44019,
+     0.58497,
+     0.44231
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 89.3,
+    "opposite_sign_bend_deg": 97.3,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 2.44,
+    "hand_vs_marker_frame_deg": {
+     "before": 93.15,
+     "after": 2.44
+    },
+    "markers_on_wrist": [
+     "RWristOut",
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -85.04,
+     "wrist_twist_deg_after": {
+      "median": -2.13,
+      "iqr": [
+       -6.6,
+       20.4
+      ]
+     },
+     "wrist_total_deg_median_after": 25.3,
+     "markers_on_forearm": [
+      "RElbowIn",
+      "RForearm",
+      "RWristIn"
+     ]
+    },
+    "frames_used": 1478
+   },
+   "generated_at_utc": "2026-10-29T09:15:36.589023+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "marker_relabel": {
+  "generated_at_utc": "2026-10-29T08:52:03.746698+00:00",
+  "generated_by": "scripts/relabel_marker_swaps.py",
+  "margin_s": 0.75,
+  "sides": {
+   "left": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 3822,
+    "frames_flipped": 0,
+    "stretches": []
+   },
+   "right": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 3575,
+    "frames_flipped": 172,
+    "stretches": [
+     {
+      "t0": 52.18,
+      "t1": 57.42,
+      "dur_s": 5.23,
+      "marker_turn_deg": 159.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 122.7,
+      "err_swapped_deg": 54.7,
+      "calib_err_deg": 6.3,
+      "applied": false
+     },
+     {
+      "t0": 123.9,
+      "t1": 124.82,
+      "dur_s": 0.92,
+      "marker_turn_deg": 124.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 154.1,
+      "err_swapped_deg": 24.5,
+      "calib_err_deg": 6.3,
+      "applied": true
+     }
+    ]
+   }
+  },
+  "applied": 1
+ },
+ "release": {
+  "release_path": "actions/human_human_locomanipulation/HH06/session_009",
+  "family": "human_human_locomanipulation",
+  "primitive": "HH06",
+  "source_session": "20261027/HH06/20261027_072008_session8"
+ },
+ "task": {
+  "primitive": "HH06",
+  "instruction": "Hand the object to your partner. They will be looking away, so you will have to get their attention and place it into their hand. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+ },
+ "objects": [
+  {
+   "name": "BigBox2",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
+}

actions/human_human_locomanipulation/HH06/session_009/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:343e8137db962de955a519fadf8629e08f43cec36cbf980aa7eb071386f17a04
+size 1154197

actions/human_human_locomanipulation/HH06/session_009/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9592e32b0dba1f8e96a41a48d3b3f58a14e9359792b119d8dbb6deb5e39be751
+size 8881280

actions/human_human_locomanipulation/HH06/session_009/motions/markers_body1.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e9b68444825d110ae479c19e38c69f084fbe6af5d3d9010c7d8b594325cdc07
+size 8656422

actions/human_human_locomanipulation/HH06/session_009/motions/object_markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d12870b487de61dc70229af4d49bd81a65be63eab4e3938d0ad6107924b6ffe
+size 695953

actions/human_human_locomanipulation/HH06/session_009/motions/objects.json

@@ -0,0 +1,39 @@
+{
+ "session": "20261027/HH06/20261027_072008_session8",
+ "generated_at_utc": "2026-11-04T19:49:49.809659+00:00",
+ "generated_by": "scripts/export_objects.py",
+ "frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)",
+ "grid": "body grid (smplx.npz t / frame_index)",
+ "held_by": "from mocap hands",
+ "instances": [
+  {
+   "name": "BigBox2",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 87.88,
+   "verified_pct": 87.81,
+   "moving_pct": 70.93,
+   "vision_source": null
+  }
+ ],
+ "absent": [],
+ "object_list": {
+  "status": "match",
+  "notes": [],
+  "declared": [
+   "BigBox2"
+  ],
+  "listed": [
+   {
+    "name": "BigBox2",
+    "object": "BigBox",
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/human_human_locomanipulation/HH06/session_009/motions/objects.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91a0e140d669803674dd9a8be418d6b41b0439615d3d033c77f1f6e34b4e26f1
+size 671835

actions/human_human_locomanipulation/HH06/session_009/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cec857b30767c10da9e482c4f9112b6c8dc4babe3fbfe3cc2aa749e16627c3f
+size 8749388

actions/human_human_locomanipulation/HH06/session_009/motions/skeleton_body1.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e3aab8f9383a5a5c69377425d35ac39ddb50be7223da510bd6dcc77e1c6c919
+size 8079199

actions/human_human_locomanipulation/HH06/session_009/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e264217b852efa8ce29632d151f9a302d68162c44c1e35132d95f4720d9a63a4
+size 6010696

actions/human_human_locomanipulation/HH06/session_009/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f99199d7f91c4047f46ef4ea083be0f0376bd0cc7b4b4317a43319e7cd480313
+size 25223118

actions/human_human_locomanipulation/HH06/session_009/raw/manifest.json

@@ -0,0 +1,317 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-10-27T13:17:20.018498+00:00",
+  "primitive_id": "HH06",
+  "session_id": "20261027_072008_session8",
+  "upload_batch_id": "20261027",
+  "dataset_path": "EgoMotionActions/20261027/HH06/20261027_072008_session8",
+  "segment": "auto/all",
+  "duration_s": 130.899967,
+  "device_ids": {
+    "main": "c9205ac6e17d2d5c",
+    "left": "452031d7af00ef6f",
+    "right": "60a6f081bbe60b0d"
+  },
+  "mocap_rigid_names": [
+    "BigBox2",
+    "Body0",
+    "Body1",
+    "Tracker0"
+  ],
+  "objects": [
+    "BigBox2"
+  ],
+  "options": {
+    "raw_video": true,
+    "proxy_height": 540,
+    "proxy_crf": 28,
+    "proxy_bitrate": "1400k",
+    "mocap_selection": "explicit",
+    "mocap_files": [
+      "mocap-HH06-S01-gaoziyue-02p1/mocap-HH06-S01-gaoziyue-02p1-1.mp4",
+      "mocap-HH06-S01-gaoziyue-02p1/mocap-HH06-S01-gaoziyue-02p1-BigBox2.csv",
+      "mocap-HH06-S01-gaoziyue-02p1/mocap-HH06-S01-gaoziyue-02p1-BigBox2.trc",
+      "mocap-HH06-S01-gaoziyue-02p1/mocap-HH06-S01-gaoziyue-02p1-Body0.bvh",
+      "mocap-HH06-S01-gaoziyue-02p1/mocap-HH06-S01-gaoziyue-02p1-Body0.csv",
+      "mocap-HH06-S01-gaoziyue-02p1/mocap-HH06-S01-gaoziyue-02p1-Body0.trc",
+      "mocap-HH06-S01-gaoziyue-02p1/mocap-HH06-S01-gaoziyue-02p1-Body1.bvh",
+      "mocap-HH06-S01-gaoziyue-02p1/mocap-HH06-S01-gaoziyue-02p1-Body1.csv",
+      "mocap-HH06-S01-gaoziyue-02p1/mocap-HH06-S01-gaoziyue-02p1-Body1.trc",
+      "mocap-HH06-S01-gaoziyue-02p1/mocap-HH06-S01-gaoziyue-02p1-Tracker0.csv",
+      "mocap-HH06-S01-gaoziyue-02p1/mocap-HH06-S01-gaoziyue-02p1-Tracker0.trc"
+    ],
+    "include_rrd": false,
+    "rrd_files": [],
+    "aligned_intersection": false
+  },
+  "files": [
+    {
+      "source": "audio_segment1.wav",
+      "packaged_as": "audio_segment1.wav",
+      "kind": "data",
+      "original_bytes": 25223118,
+      "packaged_bytes": 25223118,
+      "compressed_video": false,
+      "sha256": "f99199d7f91c4047f46ef4ea083be0f0376bd0cc7b4b4317a43319e7cd480313"
+    },
+    {
+      "source": "mocap-HH06-S01-gaoziyue-02p1/mocap-HH06-S01-gaoziyue-02p1-1.mp4",
+      "packaged_as": "mocap/mocap-HH06-S01-gaoziyue-02p1-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 46139792,
+      "packaged_bytes": 46139792,
+      "compressed_video": false,
+      "sha256": "18f9d1eae32474f7d9e3541a4f31496cdfbbad3cb5e5a5f3a71d8671b182f471"
+    },
+    {
+      "source": "mocap-HH06-S01-gaoziyue-02p1/mocap-HH06-S01-gaoziyue-02p1-BigBox2.csv",
+      "packaged_as": "mocap/mocap-HH06-S01-gaoziyue-02p1-BigBox2.csv",
+      "kind": "data",
+      "original_bytes": 4980662,
+      "packaged_bytes": 4980662,
+      "compressed_video": false,
+      "sha256": "8b964bc584eecbd4bbc8584c2d748c34c00cc02e02b97e29920e8ea8f5464faa"
+    },
+    {
+      "source": "mocap-HH06-S01-gaoziyue-02p1/mocap-HH06-S01-gaoziyue-02p1-BigBox2.trc",
+      "packaged_as": "mocap/mocap-HH06-S01-gaoziyue-02p1-BigBox2.trc",
+      "kind": "data",
+      "original_bytes": 2557593,
+      "packaged_bytes": 2557593,
+      "compressed_video": false,
+      "sha256": "d5f695569b7631edd71be42e4b9583c21de086854063305ca4e6235356cdee5f"
+    },
+    {
+      "source": "mocap-HH06-S01-gaoziyue-02p1/mocap-HH06-S01-gaoziyue-02p1-Body0.bvh",
+      "packaged_as": "mocap/mocap-HH06-S01-gaoziyue-02p1-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 9384225,
+      "packaged_bytes": 9384225,
+      "compressed_video": false,
+      "sha256": "982d539b7b01bb8c2b6b8dbcb3e45ff4f2080c98ad4d79c51dd2b3d3803f56cc"
+    },
+    {
+      "source": "mocap-HH06-S01-gaoziyue-02p1/mocap-HH06-S01-gaoziyue-02p1-Body0.csv",
+      "packaged_as": "mocap/mocap-HH06-S01-gaoziyue-02p1-Body0.csv",
+      "kind": "data",
+      "original_bytes": 130499590,
+      "packaged_bytes": 130499590,
+      "compressed_video": false,
+      "sha256": "c856da62e09130f5ba240cfeb22b4f36805c90dde67a357fef80a9a94cdd2897"
+    },
+    {
+      "source": "mocap-HH06-S01-gaoziyue-02p1/mocap-HH06-S01-gaoziyue-02p1-Body0.trc",
+      "packaged_as": "mocap/mocap-HH06-S01-gaoziyue-02p1-Body0.trc",
+      "kind": "data",
+      "original_bytes": 28838928,
+      "packaged_bytes": 28838928,
+      "compressed_video": false,
+      "sha256": "645abe996ecd6f8ea69ee7c4939f4f7efb28d496b09a9384f83919949ca2ad33"
+    },
+    {
+      "source": "mocap-HH06-S01-gaoziyue-02p1/mocap-HH06-S01-gaoziyue-02p1-Body1.bvh",
+      "packaged_as": "mocap/mocap-HH06-S01-gaoziyue-02p1-Body1.bvh",
+      "kind": "data",
+      "original_bytes": 9381451,
+      "packaged_bytes": 9381451,
+      "compressed_video": false,
+      "sha256": "5809d105417d8179457ca00a921fe9449b8ffa4e0cd99a50ba3fc875a4798cd9"
+    },
+    {
+      "source": "mocap-HH06-S01-gaoziyue-02p1/mocap-HH06-S01-gaoziyue-02p1-Body1.csv",
+      "packaged_as": "mocap/mocap-HH06-S01-gaoziyue-02p1-Body1.csv",
+      "kind": "data",
+      "original_bytes": 130288776,
+      "packaged_bytes": 130288776,
+      "compressed_video": false,
+      "sha256": "fd43f03f73c692a551393299ed1676d3db840d39bee43eefb1db0fba64e7c8e8"
+    },
+    {
+      "source": "mocap-HH06-S01-gaoziyue-02p1/mocap-HH06-S01-gaoziyue-02p1-Body1.trc",
+      "packaged_as": "mocap/mocap-HH06-S01-gaoziyue-02p1-Body1.trc",
+      "kind": "data",
+      "original_bytes": 29143596,
+      "packaged_bytes": 29143596,
+      "compressed_video": false,
+      "sha256": "f5065839ff49049eca85b9a2946dfa03b5c16158ef6583d5d03e9dfa769a0126"
+    },
+    {
+      "source": "mocap-HH06-S01-gaoziyue-02p1/mocap-HH06-S01-gaoziyue-02p1-Tracker0.csv",
+      "packaged_as": "mocap/mocap-HH06-S01-gaoziyue-02p1-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 4981589,
+      "packaged_bytes": 4981589,
+      "compressed_video": false,
+      "sha256": "5cf5cf5fdab0119e371825a9fccbbe3cb1ab301b9542f95a962c111c8a529ad5"
+    },
+    {
+      "source": "mocap-HH06-S01-gaoziyue-02p1/mocap-HH06-S01-gaoziyue-02p1-Tracker0.trc",
+      "packaged_as": "mocap/mocap-HH06-S01-gaoziyue-02p1-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 4810604,
+      "packaged_bytes": 4810604,
+      "compressed_video": false,
+      "sha256": "f5612d280ba801345a6bb25327dc9d76efa1bd3516703d45b31c3776301205a2"
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1351680,
+      "packaged_bytes": 1351680,
+      "compressed_video": false,
+      "sha256": "07ff657c22dd740456f012d07409d38826813b7df0a06cab23a5ac2df896c504"
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1306624,
+      "packaged_bytes": 1306624,
+      "compressed_video": false,
+      "sha256": "ccbcc0067f2dd374ce388cadf76242ad7ff24ce6693470013cb7a8a76f1b26f3"
+    },
+    {
+      "source": "robocap_segment1_mag_middle.db",
+      "packaged_as": "robocap_segment1_mag_middle.db",
+      "kind": "data",
+      "original_bytes": 352256,
+      "packaged_bytes": 352256,
+      "compressed_video": false,
+      "sha256": "a3ea23e434ab2017931cb50437cc6ed4d203e624e2921317cdf6bf284369c34c"
+    },
+    {
+      "source": "robocap_segment1_video_left.mp4",
+      "packaged_as": "robocap_segment1_video_left.mp4",
+      "kind": "video_raw",
+      "original_bytes": 65601551,
+      "packaged_bytes": 65601551,
+      "compressed_video": false,
+      "sha256": "a06097df7fe657aa78908aa53d5e5f7c3cd4ea341311ca165d46ba7cfdc9cd98"
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 62721203,
+      "packaged_bytes": 62721203,
+      "compressed_video": false,
+      "sha256": "e120bf7301f981d07226928ba5bd0c78f88e9a091bfa78db9f6621f2252608b5"
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 65647390,
+      "packaged_bytes": 65647390,
+      "compressed_video": false,
+      "sha256": "61c4cba23dc46a333a5713ed12bae3cfd185d96369a1a00cbdcf76918a92c7d5"
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 65567271,
+      "packaged_bytes": 65567271,
+      "compressed_video": false,
+      "sha256": "1842d14831b515bdfd75c609014cfa616b97baebc3a98409cec18a41d7ecb3f1"
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 65553579,
+      "packaged_bytes": 65553579,
+      "compressed_video": false,
+      "sha256": "eafea1205a7ace90a6c287b56c9de661dc293da43c46a511689b471ec5b72784"
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 65631776,
+      "packaged_bytes": 65631776,
+      "compressed_video": false,
+      "sha256": "22fed5b49073ff4e3a03704f96ba94a1ec3f2163535f94110560d38b5f06266f"
+    },
+    {
+      "source": "robowrist_452031d7af00ef6f_left/robowrist_segment1_imu_left.db",
+      "packaged_as": "robowrist_452031d7af00ef6f_left/robowrist_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1314816,
+      "packaged_bytes": 1314816,
+      "compressed_video": false,
+      "sha256": "0ed322f9cf3775fcdc31f8e8c6370c824a0501dae49329a1ed7fc816d58b8f5a"
+    },
+    {
+      "source": "robowrist_452031d7af00ef6f_left/robowrist_segment1_mag_left.db",
+      "packaged_as": "robowrist_452031d7af00ef6f_left/robowrist_segment1_mag_left.db",
+      "kind": "data",
+      "original_bytes": 339968,
+      "packaged_bytes": 339968,
+      "compressed_video": false,
+      "sha256": "78cc851bf4d10b9699c2c70275ca6130ca88ac6792abbbd277e600db8e94421b"
+    },
+    {
+      "source": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
+      "packaged_as": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
+      "kind": "video_raw",
+      "original_bytes": 45271561,
+      "packaged_bytes": 45271561,
+      "compressed_video": false,
+      "sha256": "2b949e3a1df3e525685763f8bad05062d991aed9815bfe33d70465e5ca4814a8"
+    },
+    {
+      "source": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_imu_right.db",
+      "packaged_as": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1306624,
+      "packaged_bytes": 1306624,
+      "compressed_video": false,
+      "sha256": "a021e7719803b3e98687d6762b9c5e18057298cf41ee816e68ea9a7e6378d8d5"
+    },
+    {
+      "source": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_mag_right.db",
+      "packaged_as": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_mag_right.db",
+      "kind": "data",
+      "original_bytes": 335872,
+      "packaged_bytes": 335872,
+      "compressed_video": false,
+      "sha256": "5c7fc401f0d5e7c2f95b57cb4911808fbf620345728f0094f4e4bc34bc834b2e"
+    },
+    {
+      "source": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
+      "packaged_as": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
+      "kind": "video_raw",
+      "original_bytes": 44502174,
+      "packaged_bytes": 44502174,
+      "compressed_video": false,
+      "sha256": "51e33f7eb25153f6f8bf7cfa654c84e8dbe7df399a5f1c213ae792336e3391d3"
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 854750,
+      "packaged_bytes": 854697,
+      "compressed_video": false,
+      "sha256": "e9ae61081d6ad76d7561f959c9f0a350f4d7803966cdeee5fc3b527485c7abcc"
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-HH06-S01-gaoziyue-02p1",
+    "action_id": "HH06",
+    "collection_session_index": 1,
+    "participant": "gaoziyue",
+    "repetition_count": 2
+  },
+  "upload_batch_created_at": "2026-10-27T21:17:23.627551+08:00",
+  "participant_gender": "female",
+  "participant_height_cm": 160,
+  "participant_weight_kg": 56,
+  "collection_site": {
+    "id": "site_01",
+    "assignment_method": "env",
+    "catalog": "collection_sites.json"
+  }
+}

actions/human_human_locomanipulation/HH06/session_009/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c856da62e09130f5ba240cfeb22b4f36805c90dde67a357fef80a9a94cdd2897
+size 130499590

actions/human_human_locomanipulation/HH06/session_009/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:645abe996ecd6f8ea69ee7c4939f4f7efb28d496b09a9384f83919949ca2ad33
+size 28838928

actions/human_human_locomanipulation/HH06/session_009/raw/mocap/Body1.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd43f03f73c692a551393299ed1676d3db840d39bee43eefb1db0fba64e7c8e8
+size 130288776

actions/human_human_locomanipulation/HH06/session_009/raw/mocap/Body1.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5065839ff49049eca85b9a2946dfa03b5c16158ef6583d5d03e9dfa769a0126
+size 29143596

actions/human_human_locomanipulation/HH06/session_009/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07ff657c22dd740456f012d07409d38826813b7df0a06cab23a5ac2df896c504
+size 1351680

actions/human_human_locomanipulation/HH06/session_009/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccbcc0067f2dd374ce388cadf76242ad7ff24ce6693470013cb7a8a76f1b26f3
+size 1306624

actions/human_human_locomanipulation/HH06/session_009/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3ea23e434ab2017931cb50437cc6ed4d203e624e2921317cdf6bf284369c34c
+size 352256

actions/human_human_locomanipulation/HH06/session_009/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ed322f9cf3775fcdc31f8e8c6370c824a0501dae49329a1ed7fc816d58b8f5a
+size 1314816

actions/human_human_locomanipulation/HH06/session_009/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a021e7719803b3e98687d6762b9c5e18057298cf41ee816e68ea9a7e6378d8d5
+size 1306624

actions/human_human_locomanipulation/HH06/session_009/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78cc851bf4d10b9699c2c70275ca6130ca88ac6792abbbd277e600db8e94421b
+size 339968

actions/human_human_locomanipulation/HH06/session_009/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c7fc401f0d5e7c2f95b57cb4911808fbf620345728f0094f4e4bc34bc834b2e
+size 335872

actions/human_human_locomanipulation/HH06/session_009/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24325fb056e0f0f8b978ae13931984bc03563d983b46b857cc6dfd6a15d0bfbb
+size 1426383

actions/human_human_locomanipulation/HH06/session_009/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2999742784449af8b7f210322d90bdb5999a20383869e953d97671ddb3718d83
+size 165486

actions/human_human_locomanipulation/HH06/session_009/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04277b0320c9b29a427e2a6b6dd24dc3795caae366eb0a8822c174f512792d2c
+size 1508386

actions/human_human_locomanipulation/HH06/session_009/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc3a050990c42669d7c1f588a131c5407b817b3cb121eda97213d2202c9f76e8
+size 290937

actions/human_human_locomanipulation/HH06/session_009/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2de0685ac4ffbefa78a64a21040c88cd3ff360703cfa20cc6da7fb9c15f2f89c
+size 261645

actions/human_human_locomanipulation/HH06/session_009/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a06097df7fe657aa78908aa53d5e5f7c3cd4ea341311ca165d46ba7cfdc9cd98
+size 65601551

actions/human_human_locomanipulation/HH06/session_009/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e120bf7301f981d07226928ba5bd0c78f88e9a091bfa78db9f6621f2252608b5
+size 62721203

actions/human_human_locomanipulation/HH06/session_009/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61c4cba23dc46a333a5713ed12bae3cfd185d96369a1a00cbdcf76918a92c7d5
+size 65647390

actions/human_human_locomanipulation/HH06/session_009/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1842d14831b515bdfd75c609014cfa616b97baebc3a98409cec18a41d7ecb3f1
+size 65567271

actions/human_human_locomanipulation/HH06/session_009/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eafea1205a7ace90a6c287b56c9de661dc293da43c46a511689b471ec5b72784
+size 65553579

actions/human_human_locomanipulation/HH06/session_009/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22fed5b49073ff4e3a03704f96ba94a1ec3f2163535f94110560d38b5f06266f
+size 65631776

actions/human_human_locomanipulation/HH06/session_009/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18f9d1eae32474f7d9e3541a4f31496cdfbbad3cb5e5a5f3a71d8671b182f471
+size 46139792