Release update 2026-11-05: new sessions, instructions, annotations (part 109)

.gitattributes

@@ -47002,3 +47002,21 @@ actions/locomanipulation/LM58/session_019/raw/sensors/robowrist_mag_right.db fil
 actions/locomanipulation/LM58/session_020/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM58/session_020/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM58/session_020/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_020/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_020/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_020/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_020/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_020/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_020/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_020/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_021/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_021/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_021/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_021/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_021/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_021/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_021/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_021/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_021/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_022/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM58/session_022/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text

actions/locomanipulation/LM58/session_020/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4b11625adc0d50bf04f57bca7ef35ec95eeb65c0e199a58193a45b0479d422c
+size 1519616

actions/locomanipulation/LM58/session_020/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:909c7ce10a2ac5c92337f0f7f6132bbbe80b11f4c0bf11c32b1918e6049c44f3
+size 1462272

actions/locomanipulation/LM58/session_020/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bbc63395c5aaf2affbca8d65b782652587b1a536877baf914b025953b309030
+size 393216

actions/locomanipulation/LM58/session_020/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d83d1b3a350d39501321778b40d988c5d871c9e4c5248ab370d18517e9eb274
+size 1470464

actions/locomanipulation/LM58/session_020/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:826d239a7a36e8f123aa447d6508e1e94a6c5a37fbfdf50bef9a0422803ec25d
+size 1478656

actions/locomanipulation/LM58/session_020/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e8779f85494f942c3fe502f8d2d39e3678c8105e3e94c66c4135a2821ac5811
+size 376832

actions/locomanipulation/LM58/session_020/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3db64f9c4d3eacad5d86fe1209dd6512de52717869a709692e59a8beee11c8cd
+size 376832

actions/locomanipulation/LM58/session_020/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e85d1f228bb0b96e8b488310ddd8066ea94316d71ea4f4623bfbd221197cfe9
+size 1575569

actions/locomanipulation/LM58/session_020/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4941c92c578c8f533b46081bdced4f710fcc3b3338a671f598803fa534490876
+size 186694

actions/locomanipulation/LM58/session_020/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fab61dd39d267419e3a9a501342df7dd86835188b4a5e9117e5a42d2d35e16f
+size 1689776

actions/locomanipulation/LM58/session_020/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82138a48b498eb74902e5863d8b62c0f7e6aea9be6433b3c9c2e5f1eb58ef29d
+size 336592

actions/locomanipulation/LM58/session_020/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b34d33415af02d27274bee72f2510b2970723eacae78b847eb4a8633c3c4d3d1
+size 287449

actions/locomanipulation/LM58/session_020/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b80c40addec157b7ff82bb90a2de54342916f115208f20a56d05cfe52e9b085
+size 73508761

actions/locomanipulation/LM58/session_020/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e99731dba09c3f883b792bb4903b1093cc54cf70d5604a08c339a8492fada24e
+size 73462236

actions/locomanipulation/LM58/session_020/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ace0dc4772c3c46b43b6c8a79e8839e608b17fc8d26cadc75771af58cd188366
+size 73552475

actions/locomanipulation/LM58/session_020/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e15cfd90a85e50c2fa3feae899bd14ad7d989fe0eef4f5f3e3c945d1d5dede0
+size 73536613

actions/locomanipulation/LM58/session_020/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ed5f778ccaa2537e9ddeb05f502bc633738824860e0c0126b8b6fae6e98cdaf
+size 73540006

actions/locomanipulation/LM58/session_020/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b8707be66f3f9fde2298bfe41dde72a3a13b11334c5a180b89a18140391b8ad
+size 73600354

actions/locomanipulation/LM58/session_020/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30d940e67281c5ff6a9e8480a44bfeb477bcdec55fa417554f2ce7950a97254c
+size 73531193

actions/locomanipulation/LM58/session_020/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:195d13ee1c1a4146c24686f76df98dde2f8d37e75025f09af893ba38b3787d96
+size 64850277

actions/locomanipulation/LM58/session_020/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de2f4496d7fccecf4eb3da317a534b0ad54272c029149e9079b75585d9d86954
+size 60861176

actions/locomanipulation/LM58/session_021/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90c35047a82a8542ccca8e62a29b689133685d74f44c93a8543852361ce8dbba
+size 1135711

actions/locomanipulation/LM58/session_021/meta.json

@@ -0,0 +1,546 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261029/LM58/20261029_070511_session78",
+ "session_id": "20261029_070511_session78",
+ "primitive": "LM58",
+ "batch": "20261029",
+ "participant": "wangjingjing",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "c9205ac6e17d2d5c",
+  "left": "cc5681142208e29a",
+  "right": "a85418f7d807dff9"
+ },
+ "generated_at_utc": "2026-10-30T22:42:29.092945+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": 128.95833333333334,
+  "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": -0.094159,
+  "rate": 0.0,
+  "global_lag_s": -0.095,
+  "peak_corr": 0.9733,
+  "reference_imu_first_sample_s": 23529.023450783,
+  "windows": {
+   "n_windows": 11,
+   "window_corr_median": 0.9730064319498629,
+   "drift_ppm": -0.9490963308261899,
+   "drift_se_ppm": 5.818092840093512,
+   "drift_ms_over_take": -0.12238597186003719,
+   "lag_scatter_ms": 0.5519527503903994,
+   "lag_range_ms": 1.766388096559296
+  }
+ },
+ "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": 26237,
+    "n_gyro": 26231,
+    "t_start": -0.10105645853518277,
+    "t_end": 129.1352369264666
+   },
+   "imu_head_left": {
+    "n_acc": 26076,
+    "n_gyro": 26070,
+    "t_start": 0.005763308464068667,
+    "t_end": 129.29847901546484
+   },
+   "imu_wrist_right": {
+    "n_acc": 25408,
+    "n_gyro": 25423,
+    "t_start": -0.856193148535837,
+    "t_end": 127.45960585346502
+   },
+   "imu_wrist_left": {
+    "n_acc": 25348,
+    "n_gyro": 25348,
+    "t_start": -0.8787445985338278,
+    "t_end": 127.45424925046491
+   },
+   "mag_head": {
+    "n": 12938,
+    "t_start": 0.08901983346613937,
+    "t_end": 129.45900964546556
+   },
+   "mag_wrist_right": {
+    "n": 12831,
+    "t_start": -0.8423352645343554,
+    "t_end": 127.45639382846521
+   },
+   "mag_wrist_left": {
+    "n": 12833,
+    "t_start": -0.8704088895331521,
+    "t_end": 127.44914184846375
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 23529.154412,
+    "frames": 3868,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0026284356473863946,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.0394307601115573,
+    "t_end": 128.93938676011268,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 23529.15438,
+    "frames": 3868,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0024181146161434135,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.03918843907986533,
+    "t_end": 128.93913243908057,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 23529.154402,
+    "frames": 3868,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002458947067077895,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.03925127153225125,
+    "t_end": 128.93919527153295,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 23529.154421,
+    "frames": 3868,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0021420814739499558,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.03895340593835803,
+    "t_end": 128.93890940593948,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 23529.15439,
+    "frames": 3867,
+    "pts_gaps": 1,
+    "timing": "pts (gap undecided)",
+    "timeshift_cam_imu_s": 0.002801984596191448,
+    "gap_test": {},
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.03958230906091861,
+    "t_end": 128.95617130906132,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 23529.154365,
+    "frames": 3868,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002930366888236734,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.03968569135277297,
+    "t_end": 128.93962969135347,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 23528.235385,
+    "frames": 3850,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": -0.8822246755346865,
+    "t_end": 127.41731932446665,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 23528.257088,
+    "frames": 3849,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": -0.8605216755361622,
+    "t_end": 127.40484332446313,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-LM58-S01-wangjingjing-01p1-1.mp4",
+    "frames": 3869,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 128.93333333333334
+   }
+  }
+ },
+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
+ "rig_tracker": {
+  "definition": "c9205ac6e17d2d5c/20261029-afternoon/labels-503412/session-1fe5f2fc71212556",
+  "R_tracker0_imu0": [
+   [
+    -0.63663016,
+    0.30025983,
+    -0.71031407
+   ],
+   [
+    0.75519319,
+    0.05622547,
+    -0.65308647
+   ],
+   [
+    -0.15615789,
+    -0.95219889,
+    -0.26254901
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   0.018527148753792216,
+   -0.008673072958957402,
+   -0.006889056012584514
+  ],
+  "rig_check": {
+   "gyro_samples": 3974,
+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 1.428
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "canonical": {
+  "generated_at_utc": "2026-11-03T09:17:29.733231+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": [
+   [
+    0.9999956317,
+    0.0029557594,
+    -5.102e-07
+   ],
+   [
+    5.102e-07,
+    -0.0003452029,
+    -0.9999999404
+   ],
+   [
+    -0.0029557594,
+    0.9999955722,
+    -0.0003452029
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.000999995632,
+    2.955759e-06,
+    -5.1e-10,
+    0.0
+   ],
+   [
+    5.1e-10,
+    -3.45203e-07,
+    -0.00099999994,
+    0.0
+   ],
+   [
+    -2.955759e-06,
+    0.000999995572,
+    -3.45203e-07,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20261029-afternoon",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.17050385347658925,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 32.5,
+   "headtop_p95_mm": 1515.9
+  },
+  "gravity_check": {
+   "static_samples": 4010,
+   "g_world_mean_m_s2": [
+    -0.0702,
+    -0.1142,
+    9.8132
+   ],
+   "tilt_from_z_deg": 0.783,
+   "tilt_from_z_deg_before_levelling": 0.868,
+   "magnitude_m_s2": 9.8142
+  },
+  "rig_tracker_definition": "c9205ac6e17d2d5c/20261029-afternoon/labels-503412/session-1fe5f2fc71212556",
+  "rig_check": {
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 1.428
+  },
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-11-02T18:03:15.396853+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": [
+      0.051309723407030106,
+      0.014964007772505283,
+      0.026896482333540916
+     ],
+     "LHandOut": [
+      0.05232326686382294,
+      0.01069606188684702,
+      -0.01806538552045822
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.021423980593681335,
+      -0.006111545953899622,
+      0.0498100221157074
+     ],
+     "RHandOut": [
+      -0.06017100065946579,
+      0.020891891792416573,
+      0.03291398659348488
+     ],
+     "RWristOut": [
+      -0.0008000091766007245,
+      0.0395643524825573,
+      0.008701479993760586
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 6.49,
+   "p95_frame": 14.33
+  },
+  "worst_markers": [
+   "WaistRBack 21mm",
+   "LKnee 15mm",
+   "CLAV 14mm",
+   "LThigh 14mm",
+   "WaistRFront 13mm"
+  ],
+  "valid_fraction": 0.9995,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 8.7,
+    "p5": 5.2
+   },
+   "frames_checked": 516,
+   "stature_mm": 1502.4
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 14.9
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 22.1,
+    "Q_rotvec": [
+     0.03237,
+     -0.29483,
+     0.24656
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 31.7,
+    "opposite_sign_bend_deg": 172.0,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 4.19,
+    "hand_vs_marker_frame_deg": {
+     "before": 24.54,
+     "after": 4.19
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 13.72,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -3.7,
+       5.1
+      ]
+     },
+     "wrist_total_deg_median_after": 28.9,
+     "markers_on_forearm": [
+      "LElbow",
+      "LElbowIn",
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 87.83,
+    "Q_rotvec": [
+     0.7318,
+     1.34351,
+     -0.0954
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 72.3,
+    "opposite_sign_bend_deg": 136.3,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 3.19,
+    "hand_vs_marker_frame_deg": {
+     "before": 87.87,
+     "after": 3.19
+    },
+    "markers_on_wrist": [
+     "RWristOut",
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -51.37,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -4.9,
+       4.5
+      ]
+     },
+     "wrist_total_deg_median_after": 56.1,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-11-02T18:03:18.687369+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/locomanipulation/LM58/session_021",
+  "family": "locomanipulation",
+  "primitive": "LM58",
+  "source_session": "20261029/LM58/20261029_070511_session78"
+ },
+ "task": {
+  "primitive": "LM58",
+  "instruction": "Carry the fragile object across the room and set it down as gently as you can. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+ },
+ "objects": [
+  {
+   "name": "LittleBox2",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "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/locomanipulation/LM58/session_021/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28e019c1a97a4c9034b4102f0acb99084470d2226ee25f36c677d436f6b847ee
+size 1153825

actions/locomanipulation/LM58/session_021/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35c1aa8361646eee1896a61a1d360a2e00e1c2a4aaec671a151566b455f5ed92
+size 9062762

actions/locomanipulation/LM58/session_021/motions/object_markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:054e49511f765befd425dd3b7c28363ea7fa7aea356f57e8c29311afd8211bc5
+size 2322961

actions/locomanipulation/LM58/session_021/motions/objects.json

@@ -0,0 +1,127 @@
+{
+ "session": "20261029/LM58/20261029_070511_session78",
+ "generated_at_utc": "2026-11-04T20:38:22.837900+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": "LittleBox2",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox2",
+    "rms_mm": 0.48
+   },
+   "valid_pct": 95.86,
+   "verified_pct": 95.83,
+   "moving_pct": 6.0,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox4",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox4",
+    "rms_mm": 0.44
+   },
+   "valid_pct": 99.96,
+   "verified_pct": 99.95,
+   "moving_pct": 7.48,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox5",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox5",
+    "rms_mm": 2.06
+   },
+   "valid_pct": 99.99,
+   "verified_pct": 99.98,
+   "moving_pct": 14.71,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox6",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox6",
+    "rms_mm": 1.72
+   },
+   "valid_pct": 84.39,
+   "verified_pct": 84.34,
+   "moving_pct": 6.22,
+   "vision_source": null
+  },
+  {
+   "name": "Table",
+   "object_type": "Table",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 99.99,
+   "verified_pct": 99.99,
+   "moving_pct": 0.0,
+   "vision_source": null
+  }
+ ],
+ "absent": [],
+ "object_list": {
+  "status": "corrected",
+  "notes": [],
+  "declared": [
+   "LittleBox2",
+   "LittleBox4",
+   "LittleBox5",
+   "LittleBox6",
+   "Table0"
+  ],
+  "listed": [
+   {
+    "name": "LittleBox2",
+    "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/locomanipulation/LM58/session_021/motions/objects.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c562c00232d7646cd38ed2b2dd2d52a66ef8a77e60efc2dffddc524d808be8f
+size 2992971

actions/locomanipulation/LM58/session_021/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfdce8f4e08a893f7fbb2ebe27c573fb40e0c7a0364a4a0271db24b9ba0735d3
+size 9088987

actions/locomanipulation/LM58/session_021/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:635b24c48c4f0fd02f8d01747d13c371a4b3de23cfacc7a4aeb8fd7fe3c7e1fb
+size 5923482

actions/locomanipulation/LM58/session_021/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da12bf10a95ec6860cad95241825027a4e3195c14a27ca71c4a448a085b1bea2
+size 24839118

actions/locomanipulation/LM58/session_021/raw/manifest.json

@@ -0,0 +1,374 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-10-30T08:27:44.269946+00:00",
+  "primitive_id": "LM58",
+  "session_id": "20261029_070511_session78",
+  "upload_batch_id": "20261029",
+  "dataset_path": "EgoMotionActions/20261029/LM58/20261029_070511_session78",
+  "segment": "auto/all",
+  "duration_s": 128.899956,
+  "device_ids": {
+    "main": "c9205ac6e17d2d5c",
+    "left": "cc5681142208e29a",
+    "right": "a85418f7d807dff9"
+  },
+  "mocap_rigid_names": [
+    "Body0",
+    "LittleBox2",
+    "LittleBox4",
+    "LittleBox5",
+    "LittleBox6",
+    "Table",
+    "Tracker0"
+  ],
+  "objects": [
+    "LittleBox2",
+    "LittleBox4",
+    "LittleBox5",
+    "LittleBox6",
+    "Table0"
+  ],
+  "options": {
+    "raw_video": true,
+    "proxy_height": 540,
+    "proxy_crf": 28,
+    "proxy_bitrate": "1400k",
+    "mocap_selection": "explicit",
+    "mocap_files": [
+      "mocap-LM58-S01-wangjingjing-01p1/mocap-LM58-S01-wangjingjing-01p1-1.mp4",
+      "mocap-LM58-S01-wangjingjing-01p1/mocap-LM58-S01-wangjingjing-01p1-Body0.bvh",
+      "mocap-LM58-S01-wangjingjing-01p1/mocap-LM58-S01-wangjingjing-01p1-Body0.csv",
+      "mocap-LM58-S01-wangjingjing-01p1/mocap-LM58-S01-wangjingjing-01p1-Body0.trc",
+      "mocap-LM58-S01-wangjingjing-01p1/mocap-LM58-S01-wangjingjing-01p1-LittleBox2.csv",
+      "mocap-LM58-S01-wangjingjing-01p1/mocap-LM58-S01-wangjingjing-01p1-LittleBox2.trc",
+      "mocap-LM58-S01-wangjingjing-01p1/mocap-LM58-S01-wangjingjing-01p1-LittleBox4.csv",
+      "mocap-LM58-S01-wangjingjing-01p1/mocap-LM58-S01-wangjingjing-01p1-LittleBox4.trc",
+      "mocap-LM58-S01-wangjingjing-01p1/mocap-LM58-S01-wangjingjing-01p1-LittleBox5.csv",
+      "mocap-LM58-S01-wangjingjing-01p1/mocap-LM58-S01-wangjingjing-01p1-LittleBox5.trc",
+      "mocap-LM58-S01-wangjingjing-01p1/mocap-LM58-S01-wangjingjing-01p1-LittleBox6.csv",
+      "mocap-LM58-S01-wangjingjing-01p1/mocap-LM58-S01-wangjingjing-01p1-LittleBox6.trc",
+      "mocap-LM58-S01-wangjingjing-01p1/mocap-LM58-S01-wangjingjing-01p1-Table.csv",
+      "mocap-LM58-S01-wangjingjing-01p1/mocap-LM58-S01-wangjingjing-01p1-Table.trc",
+      "mocap-LM58-S01-wangjingjing-01p1/mocap-LM58-S01-wangjingjing-01p1-Tracker0.csv",
+      "mocap-LM58-S01-wangjingjing-01p1/mocap-LM58-S01-wangjingjing-01p1-Tracker0.trc"
+    ],
+    "include_rrd": false,
+    "rrd_files": [],
+    "aligned_intersection": false
+  },
+  "files": [
+    {
+      "source": "audio_segment1.wav",
+      "packaged_as": "audio_segment1.wav",
+      "kind": "data",
+      "original_bytes": 24839118,
+      "packaged_bytes": 24839118,
+      "compressed_video": false,
+      "sha256": "da12bf10a95ec6860cad95241825027a4e3195c14a27ca71c4a448a085b1bea2"
+    },
+    {
+      "source": "mocap-LM58-S01-wangjingjing-01p1/mocap-LM58-S01-wangjingjing-01p1-1.mp4",
+      "packaged_as": "mocap/mocap-LM58-S01-wangjingjing-01p1-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 45233494,
+      "packaged_bytes": 45233494,
+      "compressed_video": false,
+      "sha256": "95128ef067dbb51788dc72efcb211b6330b00c99020e33a1ff3262f46318b037"
+    },
+    {
+      "source": "mocap-LM58-S01-wangjingjing-01p1/mocap-LM58-S01-wangjingjing-01p1-Body0.bvh",
+      "packaged_as": "mocap/mocap-LM58-S01-wangjingjing-01p1-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 9252429,
+      "packaged_bytes": 9252429,
+      "compressed_video": false,
+      "sha256": "ee167eb0d420254b26ca8bb6334b956fa12cc20bb589a19e981c9ea8f81aa9ad"
+    },
+    {
+      "source": "mocap-LM58-S01-wangjingjing-01p1/mocap-LM58-S01-wangjingjing-01p1-Body0.csv",
+      "packaged_as": "mocap/mocap-LM58-S01-wangjingjing-01p1-Body0.csv",
+      "kind": "data",
+      "original_bytes": 127918680,
+      "packaged_bytes": 127918680,
+      "compressed_video": false,
+      "sha256": "24d4afbf53065212c583c0addc336f8bc81f81d96d686374532badf94a192e9c"
+    },
+    {
+      "source": "mocap-LM58-S01-wangjingjing-01p1/mocap-LM58-S01-wangjingjing-01p1-Body0.trc",
+      "packaged_as": "mocap/mocap-LM58-S01-wangjingjing-01p1-Body0.trc",
+      "kind": "data",
+      "original_bytes": 28225770,
+      "packaged_bytes": 28225770,
+      "compressed_video": false,
+      "sha256": "64877028feec09bcd8c1c872bd282c097d7590db31f67fe0b2f1ba1760a148bd"
+    },
+    {
+      "source": "mocap-LM58-S01-wangjingjing-01p1/mocap-LM58-S01-wangjingjing-01p1-LittleBox2.csv",
+      "packaged_as": "mocap/mocap-LM58-S01-wangjingjing-01p1-LittleBox2.csv",
+      "kind": "data",
+      "original_bytes": 4768937,
+      "packaged_bytes": 4768937,
+      "compressed_video": false,
+      "sha256": "26789c5d29c5c14a1d87618751285b437eaff23c27eb5c6280c314e4af757924"
+    },
+    {
+      "source": "mocap-LM58-S01-wangjingjing-01p1/mocap-LM58-S01-wangjingjing-01p1-LittleBox2.trc",
+      "packaged_as": "mocap/mocap-LM58-S01-wangjingjing-01p1-LittleBox2.trc",
+      "kind": "data",
+      "original_bytes": 2425077,
+      "packaged_bytes": 2425077,
+      "compressed_video": false,
+      "sha256": "60719d3984f93aa765fa78c7a7fbb2ee388699a566e789383a988133a04e2b5f"
+    },
+    {
+      "source": "mocap-LM58-S01-wangjingjing-01p1/mocap-LM58-S01-wangjingjing-01p1-LittleBox4.csv",
+      "packaged_as": "mocap/mocap-LM58-S01-wangjingjing-01p1-LittleBox4.csv",
+      "kind": "data",
+      "original_bytes": 4819588,
+      "packaged_bytes": 4819588,
+      "compressed_video": false,
+      "sha256": "cef4858c615fef587d082f7f69c2ba2cd487af8d68db6e3f9a158128a3e33efb"
+    },
+    {
+      "source": "mocap-LM58-S01-wangjingjing-01p1/mocap-LM58-S01-wangjingjing-01p1-LittleBox4.trc",
+      "packaged_as": "mocap/mocap-LM58-S01-wangjingjing-01p1-LittleBox4.trc",
+      "kind": "data",
+      "original_bytes": 2537742,
+      "packaged_bytes": 2537742,
+      "compressed_video": false,
+      "sha256": "4d967490fc57a99a1152237dfb9ec0a6a8296ec29b277a1154962e011f214a98"
+    },
+    {
+      "source": "mocap-LM58-S01-wangjingjing-01p1/mocap-LM58-S01-wangjingjing-01p1-LittleBox5.csv",
+      "packaged_as": "mocap/mocap-LM58-S01-wangjingjing-01p1-LittleBox5.csv",
+      "kind": "data",
+      "original_bytes": 4814234,
+      "packaged_bytes": 4814234,
+      "compressed_video": false,
+      "sha256": "69dc21f90f14f15b7040c34b16046231491621e4cd872f44688f671db9e86702"
+    },
+    {
+      "source": "mocap-LM58-S01-wangjingjing-01p1/mocap-LM58-S01-wangjingjing-01p1-LittleBox5.trc",
+      "packaged_as": "mocap/mocap-LM58-S01-wangjingjing-01p1-LittleBox5.trc",
+      "kind": "data",
+      "original_bytes": 2412173,
+      "packaged_bytes": 2412173,
+      "compressed_video": false,
+      "sha256": "667f67c932dd057270c22dccebb2e81302beebb6c938e37f2117fcac86747763"
+    },
+    {
+      "source": "mocap-LM58-S01-wangjingjing-01p1/mocap-LM58-S01-wangjingjing-01p1-LittleBox6.csv",
+      "packaged_as": "mocap/mocap-LM58-S01-wangjingjing-01p1-LittleBox6.csv",
+      "kind": "data",
+      "original_bytes": 4800299,
+      "packaged_bytes": 4800299,
+      "compressed_video": false,
+      "sha256": "4be1c4ea70e71c8c80a109cdb5de056c1df8b38196273e55017aad2eea868d8f"
+    },
+    {
+      "source": "mocap-LM58-S01-wangjingjing-01p1/mocap-LM58-S01-wangjingjing-01p1-LittleBox6.trc",
+      "packaged_as": "mocap/mocap-LM58-S01-wangjingjing-01p1-LittleBox6.trc",
+      "kind": "data",
+      "original_bytes": 2172657,
+      "packaged_bytes": 2172657,
+      "compressed_video": false,
+      "sha256": "8342d3b8a91580b89f5368325eeb0cb80b10fd5e8f809791783a51d21fcf2d1c"
+    },
+    {
+      "source": "mocap-LM58-S01-wangjingjing-01p1/mocap-LM58-S01-wangjingjing-01p1-Table.csv",
+      "packaged_as": "mocap/mocap-LM58-S01-wangjingjing-01p1-Table.csv",
+      "kind": "data",
+      "original_bytes": 4714044,
+      "packaged_bytes": 4714044,
+      "compressed_video": false,
+      "sha256": "e4f75f41b2169b344994e47db8be689aa6862d31e4264296dfc563e3842eeb9a"
+    },
+    {
+      "source": "mocap-LM58-S01-wangjingjing-01p1/mocap-LM58-S01-wangjingjing-01p1-Table.trc",
+      "packaged_as": "mocap/mocap-LM58-S01-wangjingjing-01p1-Table.trc",
+      "kind": "data",
+      "original_bytes": 4773753,
+      "packaged_bytes": 4773753,
+      "compressed_video": false,
+      "sha256": "84b2916554e1f7da0557ceabc9ef303daf2e349066b6215ae9cac12a064e966a"
+    },
+    {
+      "source": "mocap-LM58-S01-wangjingjing-01p1/mocap-LM58-S01-wangjingjing-01p1-Tracker0.csv",
+      "packaged_as": "mocap/mocap-LM58-S01-wangjingjing-01p1-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 4919829,
+      "packaged_bytes": 4919829,
+      "compressed_video": false,
+      "sha256": "9a8c0253e867220c90943f0012f28eb6a99b4e4a93e489260f864f424fc54005"
+    },
+    {
+      "source": "mocap-LM58-S01-wangjingjing-01p1/mocap-LM58-S01-wangjingjing-01p1-Tracker0.trc",
+      "packaged_as": "mocap/mocap-LM58-S01-wangjingjing-01p1-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 4803653,
+      "packaged_bytes": 4803653,
+      "compressed_video": false,
+      "sha256": "9bf18c6271eb0c1d1345f30c5f6304f69b7b38ef003bae2b0c55d82a3c2aba75"
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1343488,
+      "packaged_bytes": 1343488,
+      "compressed_video": false,
+      "sha256": "51ceeb1562f79c190bbb792e9f9d218c32b8b769aaf37c8b534a500e98beab04"
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1294336,
+      "packaged_bytes": 1294336,
+      "compressed_video": false,
+      "sha256": "d637f6fad0d78aa20baa62a534bdcf1bd1253a894576af816f988a5e4d1565d0"
+    },
+    {
+      "source": "robocap_segment1_mag_middle.db",
+      "packaged_as": "robocap_segment1_mag_middle.db",
+      "kind": "data",
+      "original_bytes": 348160,
+      "packaged_bytes": 348160,
+      "compressed_video": false,
+      "sha256": "7b0bb19025bef692976b7cdfb65b006b56fdd9247ffca176da45619830d4034a"
+    },
+    {
+      "source": "robocap_segment1_video_left.mp4",
+      "packaged_as": "robocap_segment1_video_left.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64626044,
+      "packaged_bytes": 64626044,
+      "compressed_video": false,
+      "sha256": "07e98bbcbc3963cfb4634e9babd78b0d2842963b61b7af5cd78361caa036e8f0"
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64560485,
+      "packaged_bytes": 64560485,
+      "compressed_video": false,
+      "sha256": "529f836b8d29b7f731fd2e859c112b54122783fba959a6178a6e99343419c2b5"
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64567888,
+      "packaged_bytes": 64567888,
+      "compressed_video": false,
+      "sha256": "d209ea277695a601a927e2387980f4c453307bb7097e4129ec52f31fa8a70c2d"
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64528703,
+      "packaged_bytes": 64528703,
+      "compressed_video": false,
+      "sha256": "5d0c689321bdeb097f29bfe5d8f15560d553c50bfc4d8e7cbd83815989d5b322"
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64556641,
+      "packaged_bytes": 64556641,
+      "compressed_video": false,
+      "sha256": "4bdbcad008085db83a3c735cbe0fce211ca3981c6a951f422cd5d48100768316"
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 64615566,
+      "packaged_bytes": 64615566,
+      "compressed_video": false,
+      "sha256": "1df47266724bcd5fe182573e52c82c7d2277da3319849134bf93bf12f12803e8"
+    },
+    {
+      "source": "robowrist_a85418f7d807dff9_right/robowrist_segment1_imu_right.db",
+      "packaged_as": "robowrist_a85418f7d807dff9_right/robowrist_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1261568,
+      "packaged_bytes": 1261568,
+      "compressed_video": false,
+      "sha256": "ceb934e7d54a012ecd54c9393757c56ab0b5c4d5f7619717d7e2caf3a9c7550a"
+    },
+    {
+      "source": "robowrist_a85418f7d807dff9_right/robowrist_segment1_mag_right.db",
+      "packaged_as": "robowrist_a85418f7d807dff9_right/robowrist_segment1_mag_right.db",
+      "kind": "data",
+      "original_bytes": 331776,
+      "packaged_bytes": 331776,
+      "compressed_video": false,
+      "sha256": "c3c4ba66d48d8f115eebbab5593db7928b6d7a42390ad1187d1af50232fe9335"
+    },
+    {
+      "source": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4",
+      "packaged_as": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4",
+      "kind": "video_raw",
+      "original_bytes": 46993334,
+      "packaged_bytes": 46993334,
+      "compressed_video": false,
+      "sha256": "f137a41527bd47c5b884bcedeada8b349fa2876fe019860ce94fe3f59272bc88"
+    },
+    {
+      "source": "robowrist_cc5681142208e29a_left/robowrist_segment1_imu_left.db",
+      "packaged_as": "robowrist_cc5681142208e29a_left/robowrist_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1253376,
+      "packaged_bytes": 1253376,
+      "compressed_video": false,
+      "sha256": "3e725360a9d1082ee4b2835ba02c231672fe09103788e343da1109e1d6828a76"
+    },
+    {
+      "source": "robowrist_cc5681142208e29a_left/robowrist_segment1_mag_left.db",
+      "packaged_as": "robowrist_cc5681142208e29a_left/robowrist_segment1_mag_left.db",
+      "kind": "data",
+      "original_bytes": 331776,
+      "packaged_bytes": 331776,
+      "compressed_video": false,
+      "sha256": "b6d0941dca9f88a1e05591f7fc86b7b673615c1ace3b71c09a9b66e85ee9fbeb"
+    },
+    {
+      "source": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
+      "packaged_as": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
+      "kind": "video_raw",
+      "original_bytes": 45873398,
+      "packaged_bytes": 45873398,
+      "compressed_video": false,
+      "sha256": "931bd7d505a0ef27431bb108edafcf97b9649666923bbb44a97de2e5e22703d4"
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 2128112,
+      "packaged_bytes": 2128059,
+      "compressed_video": false,
+      "sha256": "198afb2e0bf40c462069e6a9fe5c1133bff6ca8933a19bfb541b060945680504"
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-LM58-S01-wangjingjing-01p1",
+    "action_id": "LM58",
+    "collection_session_index": 1,
+    "participant": "wangjingjing",
+    "repetition_count": 1
+  },
+  "upload_batch_created_at": "2026-10-30T16:27:52.826084+08:00",
+  "participant_gender": "female",
+  "participant_height_cm": 154,
+  "participant_weight_kg": 42,
+  "collection_site": {
+    "id": "site_01",
+    "assignment_method": "env",
+    "catalog": "collection_sites.json"
+  }
+}

actions/locomanipulation/LM58/session_021/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24d4afbf53065212c583c0addc336f8bc81f81d96d686374532badf94a192e9c
+size 127918680

actions/locomanipulation/LM58/session_021/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64877028feec09bcd8c1c872bd282c097d7590db31f67fe0b2f1ba1760a148bd
+size 28225770