Release update 2026-11-05: new sessions, instructions, annotations (part 382)

actions/locomanipulation/LM37/session_005/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e259e62ef4cd860678e8c77d7118e3a0c4a3ee8eabe020965aa84b113e7b3d44
-size 6090783
+oid sha256:4eaf517179f7976e6f8aefb69687c469c2e9785ffa632d68fb32d3eb658ea11a
+size 10713865

actions/locomanipulation/LM37/session_006/cameras/gsi_online_calibration.json

@@ -0,0 +1,258 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 57,
+    "median_px": 610.83,
+    "pair": [
+     "left_front",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 13,
+  "median_px": 0.374
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.818,
+   "gate_fail": [],
+   "held_out_px_after": 0.453,
+   "held_out_px_before": 22.431,
+   "inliers": 3282,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.0138,
+    -0.2226,
+    -1.4926
+   ],
+   "split_deg": 0.0159,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.3319,
+   "gate_fail": [],
+   "held_out_px_after": 0.393,
+   "held_out_px_before": 8.887,
+   "inliers": 5111,
+   "position_fitted": true,
+   "position_mm": [
+    1.45,
+    -26.88,
+    -0.85
+   ],
+   "position_sigma_mm": 0.135,
+   "position_split_mm": 0.142,
+   "rotvec_deg": [
+    1.6162,
+    -0.7987,
+    1.4791
+   ],
+   "split_deg": 0.018,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 4.3101,
+   "gate_fail": [],
+   "held_out_px_after": 1.198,
+   "held_out_px_before": 10.935,
+   "inliers": 245,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.655,
+    -1.5045,
+    3.0438
+   ],
+   "split_deg": 0.3713,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.8558,
+   "gate_fail": [],
+   "held_out_px_after": 0.371,
+   "held_out_px_before": 3.58,
+   "inliers": 4966,
+   "position_fitted": true,
+   "position_mm": [
+    -0.08,
+    -24.23,
+    0.27
+   ],
+   "position_sigma_mm": 0.122,
+   "position_split_mm": 1.483,
+   "rotvec_deg": [
+    1.6786,
+    -1.3333,
+    1.8869
+   ],
+   "split_deg": 0.016,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.5368,
+   "gate_fail": [],
+   "held_out_px_after": 0.353,
+   "held_out_px_before": 2.789,
+   "inliers": 5214,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.1839,
+    -0.4559,
+    -0.2154
+   ],
+   "split_deg": 0.0084,
+   "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": "3042c74c904946a122404b69eddba8919c642c77e1105909f96754013895c75d",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "50379819d773e1bcf3aa308ba125fe0ae6bb0bb7eacf7867a1756305a6285e60",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "5f18fe0e4993fbb0ad25b7da79c1f938eab3555852d9c0711e4d40908b7555f6",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "c60e6db2f66f15f0b94b209628ef0be486808f2af3f25425652b420e7ceabd76",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "f319de61c1191e62",
+ "kind": "online_calibration",
+ "output_sha256": "70dfe7ac90e6c5e02d0b672c70837b6ba4449b4489a84b82f68560dafa86853f",
+ "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": 42.409,
+  "left_eye": 42.588,
+  "left_front": 42.841,
+  "right": 36.599,
+  "right_eye": 41.387,
+  "right_front": 42.395
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   16623927726777,
+   16624927726777,
+   16626927726777,
+   16627927726777,
+   16628927693444,
+   16629927737888,
+   16630927704555,
+   16631927737888,
+   16632927726777,
+   16633927860111,
+   16634927737888,
+   16635927693444,
+   16636927704555,
+   16637927726777,
+   16639927749000,
+   16640927704555,
+   16641927849000,
+   16642927704555,
+   16643927726777,
+   16644927693444,
+   16645927726777,
+   16646927726777,
+   16648927726777,
+   16649927704555,
+   16650927726777,
+   16652927693444,
+   16653927704555,
+   16654927693444,
+   16655927726777,
+   16656927726777,
+   16657927771222,
+   16658927704555,
+   16659927704555,
+   16660927726777,
+   16661927693444,
+   16662927726777,
+   16663927704555,
+   16664927837888,
+   16665927693444,
+   16666927826777,
+   16667927726777,
+   16668927693444,
+   16669927715666,
+   16670927726777,
+   16672927693444,
+   16673927793444,
+   16674927826777,
+   16675927693444,
+   16676927693444,
+   16677927693444,
+   16678927693444
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM37/session_006/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93547264bc3872400af25ae8b3421665f7e259b8c6bd0d8e5606bef76c34ebc0
+size 694361

actions/locomanipulation/LM37/session_006/meta.json

@@ -522,6 +522,10 @@
   "primitive": "LM37",
   "source_session": "20261022/LM37/20261022_112555_session63"
  },
+ "task": {
+  "primitive": "LM37",
+  "instruction": "Carry the handheld device and, while walking, point it at the labels on the shelves and press the button as if scanning them."
+ },
  "objects": [
   {
    "name": "LittleBox1",

actions/locomanipulation/LM37/session_006/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95eb9d741b1b77538e31a58309e2d4a161c2641e99e7afb66ce989a98566ee2c
+size 4806962

actions/locomanipulation/LM37/session_007/cameras/gsi_online_calibration.json

@@ -0,0 +1,206 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 12,
+  "median_px": 0.36
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.8292,
+   "gate_fail": [],
+   "held_out_px_after": 0.404,
+   "held_out_px_before": 23.321,
+   "inliers": 2214,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.9729,
+    -0.2465,
+    -1.5293
+   ],
+   "split_deg": 0.0113,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.3368,
+   "gate_fail": [],
+   "held_out_px_after": 0.397,
+   "held_out_px_before": 8.722,
+   "inliers": 4346,
+   "position_fitted": true,
+   "position_mm": [
+    2.18,
+    -26.13,
+    -0.41
+   ],
+   "position_sigma_mm": 0.242,
+   "position_split_mm": 1.429,
+   "rotvec_deg": [
+    1.621,
+    -0.8162,
+    1.472
+   ],
+   "split_deg": 0.0201,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.6207,
+   "gate_fail": [],
+   "held_out_px_after": 0.693,
+   "held_out_px_before": 8.442,
+   "inliers": 313,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.7431,
+    -1.0425,
+    2.9974
+   ],
+   "split_deg": 0.0231,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.9135,
+   "gate_fail": [],
+   "held_out_px_after": 0.369,
+   "held_out_px_before": 4.544,
+   "inliers": 4290,
+   "position_fitted": true,
+   "position_mm": [
+    1.59,
+    -21.43,
+    -1.48
+   ],
+   "position_sigma_mm": 0.166,
+   "position_split_mm": 1.239,
+   "rotvec_deg": [
+    1.7767,
+    -1.3428,
+    1.8784
+   ],
+   "split_deg": 0.0204,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 0.557,
+   "gate_fail": [],
+   "held_out_px_after": 0.331,
+   "held_out_px_before": 2.473,
+   "inliers": 4163,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2259,
+    -0.4489,
+    -0.2402
+   ],
+   "split_deg": 0.0105,
+   "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": "85ec348b88b9817f3a24d41d10003a8447669d942608140847903b8dc043a5b0",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "f5de43bc60b84757138e3e22fc60217af5c1c9db12f9a50ba3c0a85e3c87f20e",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "3a24620d9d097c05a9253efd2968a768cfac67014c48a903d67bc63d8865fcb1",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "b9fb7776ab183bce1e22c0cd1ebdc929fe0c113d4e17125258e7c72e81d28f0e",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "f5e7dce58cfb6b37",
+ "kind": "online_calibration",
+ "output_sha256": "56ec665c8dd53cab06e7b8affea39d998f7d264df280c7c109b16210a5474f78",
+ "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": 30.733,
+  "left_eye": 28.937,
+  "left_front": 34.703,
+  "right": 24.069,
+  "right_eye": 28.303,
+  "right_front": 34.068
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   16756608352000,
+   16757608352000,
+   16758608407555,
+   16759608352000,
+   16760608418666,
+   16761608463111,
+   16762608329777,
+   16763608463111,
+   16764608352000,
+   16765608452000
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM37/session_007/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25bbf85991a59443af476241a3cbca382ffe156690cc1d00f7202b009da46731
+size 728703

actions/locomanipulation/LM37/session_007/meta.json

@@ -512,6 +512,10 @@
   "primitive": "LM37",
   "source_session": "20261022/LM37/20261022_112808_session64"
  },
+ "task": {
+  "primitive": "LM37",
+  "instruction": "Carry the handheld device and, while walking, point it at the labels on the shelves and press the button as if scanning them."
+ },
  "objects": [
   {
    "name": "LittleBox1",

actions/locomanipulation/LM37/session_007/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb0815f8cd44d9f6337a2e13f0e0f983b2fa90abec6b096b2679dcdb713bc3b3
+size 4912147

actions/locomanipulation/LM37/session_008/cameras/gsi_online_calibration.json

@@ -0,0 +1,264 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 59,
+    "median_px": 594.78,
+    "pair": [
+     "left_front",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 13,
+  "median_px": 0.421
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.7941,
+   "gate_fail": [],
+   "held_out_px_after": 0.502,
+   "held_out_px_before": 18.276,
+   "inliers": 3005,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.9943,
+    -0.2301,
+    -1.4756
+   ],
+   "split_deg": 0.0221,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.3627,
+   "gate_fail": [],
+   "held_out_px_after": 0.583,
+   "held_out_px_before": 8.902,
+   "inliers": 4132,
+   "position_fitted": true,
+   "position_mm": [
+    1.46,
+    -25.89,
+    -1.12
+   ],
+   "position_sigma_mm": 0.279,
+   "position_split_mm": 0.791,
+   "rotvec_deg": [
+    1.6664,
+    -0.7962,
+    1.4736
+   ],
+   "split_deg": 0.0442,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 4.0116,
+   "gate_fail": [],
+   "held_out_px_after": 1.003,
+   "held_out_px_before": 9.33,
+   "inliers": 270,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.0399,
+    -1.1351,
+    3.2623
+   ],
+   "split_deg": 0.3402,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.9247,
+   "gate_fail": [],
+   "held_out_px_after": 0.469,
+   "held_out_px_before": 4.519,
+   "inliers": 4187,
+   "position_fitted": true,
+   "position_mm": [
+    1.53,
+    -20.86,
+    -1.65
+   ],
+   "position_sigma_mm": 0.327,
+   "position_split_mm": 2.893,
+   "rotvec_deg": [
+    1.759,
+    -1.3641,
+    1.8971
+   ],
+   "split_deg": 0.0787,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.5649,
+   "gate_fail": [],
+   "held_out_px_after": 0.352,
+   "held_out_px_before": 2.494,
+   "inliers": 5405,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2089,
+    -0.4632,
+    -0.2469
+   ],
+   "split_deg": 0.0102,
+   "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": "9a6477e3d0b773d33bf7f9b99b59086b67043037432b3cffd58fe063f9eb7b53",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "37812637205e6b11a917ca818b0071067a46cca4cea068a8f9b723a0fcb8346c",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "c838d05ccdcf7f1ea6aec1bf1409615f4c5673a2512f37ee18db20b486162542",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "89910f937dd95303eda127d908a398d8708016c8abb287b4f57043d946d3d323",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "5a4e065d41ecb047",
+ "kind": "online_calibration",
+ "output_sha256": "049cc5f9605edee2e22495170dffd92fb6527834c1a9f49f61f7b51aeb1cf5d5",
+ "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": 40.169,
+  "left_eye": 36.469,
+  "left_front": 39.283,
+  "right": 31.841,
+  "right_eye": 36.036,
+  "right_front": 39.707
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   16897131433000,
+   16898131421888,
+   16903131421888,
+   16904131421888,
+   16907131421888,
+   16909131421888,
+   16911131421888,
+   16912131421888,
+   16914131433000,
+   16915131455222,
+   16918131466333,
+   16919131433000,
+   16923131444111,
+   16924131455222,
+   16929131444111,
+   16930131433000,
+   16931131455222,
+   16935131510777,
+   16936131421888,
+   16941131466333,
+   16942131444111,
+   16945131433000,
+   16946131455222,
+   16950131444111,
+   16951131455222,
+   16952131444111,
+   16955131444111,
+   16956131455222,
+   16962131466333,
+   16963131444111,
+   16964131466333,
+   16965131444111,
+   16970131444111,
+   16971131421888,
+   16972131444111,
+   16976131444111,
+   16977131566333,
+   16980131466333,
+   16981131444111,
+   16987131444111,
+   16988131455222,
+   16991131433000,
+   16992131455222,
+   16995131455222,
+   16996131444111,
+   16998131466333,
+   16999131444111,
+   17001131444111,
+   17002131455222,
+   17006131477444,
+   17007131455222,
+   17008131477444,
+   17009131433000,
+   17013131444111,
+   17014131444111,
+   17018131433000,
+   17019131499666
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM37/session_008/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2c7760ba634fde6b7c9e37f134b6c1e51839fff81696e94a86f4c89dcbc2e74
+size 726446

actions/locomanipulation/LM37/session_008/meta.json

@@ -524,6 +524,10 @@
   "primitive": "LM37",
   "source_session": "20261022/LM37/20261022_113028_session65"
  },
+ "task": {
+  "primitive": "LM37",
+  "instruction": "Carry the handheld device and, while walking, point it at the labels on the shelves and press the button as if scanning them."
+ },
  "objects": [
   {
    "name": "LittleBox1",

actions/locomanipulation/LM37/session_008/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a99121eb5719d73af74d91c87290c470b0f4f209ccd446ab42c7f2d8b9daeaba
+size 4827427

actions/locomanipulation/LM37/session_009/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2adb133f69d061a60575da8bc6f1f4bc70ac28ee4bb60084b26e9e5aaaa5ec56
+size 1145264

actions/locomanipulation/LM37/session_009/meta.json

@@ -0,0 +1,549 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261027/LM37/20261027_092529_session29",
+ "session_id": "20261027_092529_session29",
+ "primitive": "LM37",
+ "batch": "20261027",
+ "participant": "gaoziyue",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "c9205ac6e17d2d5c",
+  "left": "cc5681142208e29a",
+  "right": "a85418f7d807dff9"
+ },
+ "generated_at_utc": "2026-10-28T19:53:20.561575+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": 129.95833333333334,
+  "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": -0.079189,
+  "rate": 0.0,
+  "global_lag_s": -0.08,
+  "peak_corr": 0.9755,
+  "reference_imu_first_sample_s": 6299.744610031,
+  "windows": {
+   "n_windows": 11,
+   "window_corr_median": 0.9853119500576473,
+   "drift_ppm": -433.8619421904402,
+   "drift_se_ppm": 252.15370810707614,
+   "drift_ms_over_take": -56.380359387647694,
+   "lag_scatter_ms": 23.921401142268753,
+   "lag_range_ms": 99.18210435098949
+  }
+ },
+ "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": 26441,
+    "n_gyro": 26434,
+    "t_start": -0.0955540124005846,
+    "t_end": 130.14989354859964
+   },
+   "imu_head_left": {
+    "n_acc": 26278,
+    "n_gyro": 26273,
+    "t_start": 0.015943484599033705,
+    "t_end": 130.31454264359937
+   },
+   "imu_wrist_right": {
+    "n_acc": 25597,
+    "n_gyro": 25597,
+    "t_start": -0.8727016314006458,
+    "t_end": 128.39730562759897
+   },
+   "imu_wrist_left": {
+    "n_acc": 25545,
+    "n_gyro": 25558,
+    "t_start": -0.9318796234011596,
+    "t_end": 128.39707650659957
+   },
+   "mag_head": {
+    "n": 13038,
+    "t_start": 0.10157157159929296,
+    "t_end": 130.47162205059877
+   },
+   "mag_wrist_right": {
+    "n": 12926,
+    "t_start": -0.8589712584008292,
+    "t_end": 128.39058397759882
+   },
+   "mag_wrist_left": {
+    "n": 12932,
+    "t_start": -0.9183999144007383,
+    "t_end": 128.39146045959924
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 6299.860464,
+    "frames": 3898,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0026284356473863946,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.039293462246773866,
+    "t_end": 129.9393044622465,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 6299.860429,
+    "frames": 3898,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0024181146161434135,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.039048141215885276,
+    "t_end": 129.93904814121552,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 6299.860453,
+    "frames": 3898,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002458947067077895,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.03911297366621978,
+    "t_end": 129.93911297366586,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 6299.860477,
+    "frames": 3898,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0021420814739499558,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.038820108073109746,
+    "t_end": 129.93883110807283,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 6299.860441,
+    "frames": 3898,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002801984596191448,
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.03944401119488715,
+    "t_end": 129.93944401119452,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 6299.860408,
+    "frames": 3898,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002930366888236734,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.039539393486761706,
+    "t_end": 129.93952839348722,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 6298.900025,
+    "frames": 3879,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": -0.9237739734008709,
+    "t_end": 128.34276202659922,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 6298.944984,
+    "frames": 3878,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": -0.8788149734010356,
+    "t_end": 128.35406302659877,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-LM37-S05-gaoziyue-01p2-1.mp4",
+    "frames": 3899,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 129.93333333333334
+   }
+  }
+ },
+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
+ "rig_tracker": {
+  "definition": "c9205ac6e17d2d5c/20261027-afternoon/labels-053142/session-6f150b52cd3281e4",
+  "R_tracker0_imu0": [
+   [
+    -0.67671519,
+    0.09551755,
+    -0.73002257
+   ],
+   [
+    0.73331887,
+    -0.00086767,
+    -0.67988432
+   ],
+   [
+    -0.06557431,
+    -0.99542737,
+    -0.06945765
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   -0.18018417008212725,
+   -0.014909104131674568,
+   -0.008871537856539513
+  ],
+  "rig_check": {
+   "gyro_samples": 4491,
+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 2.047
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-28T23:23:37.808962+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": 25.6,
+   "headtop_p95_mm": 1634.5
+  },
+  "gravity_check": {
+   "static_samples": 2695,
+   "g_world_mean_m_s2": [
+    -0.1594,
+    0.0125,
+    9.843
+   ],
+   "tilt_from_z_deg": 0.931,
+   "tilt_from_z_deg_before_levelling": 1.147,
+   "magnitude_m_s2": 9.8443
+  },
+  "rig_tracker_definition": "c9205ac6e17d2d5c/20261027-afternoon/labels-053142/session-6f150b52cd3281e4",
+  "rig_check": {
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 2.047
+  },
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-29T07:19:37.333422+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": [
+      0.04656653851270676,
+      0.013401519507169724,
+      0.029086939990520477
+     ],
+     "LHandOut": [
+      0.05680083483457565,
+      0.014228355139493942,
+      -0.026334553956985474
+     ],
+     "LWristOut": [
+      -0.014505685307085514,
+      0.017992569133639336,
+      -0.024430865421891212
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.05149432644248009,
+      -0.00016480348131153733,
+      0.022552913054823875
+     ],
+     "RHandOut": [
+      -0.03943224251270294,
+      0.0419384241104126,
+      0.02153431437909603
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 4.62,
+   "p95_frame": 8.77
+  },
+  "worst_markers": [
+   "LShin 16mm",
+   "LKneeIn 11mm",
+   "LElbowIn 11mm",
+   "RElbowIn 9mm",
+   "LKnee 8mm"
+  ],
+  "valid_fraction": 0.9996,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 14.3,
+    "p5": 10.8
+   },
+   "frames_checked": 520,
+   "stature_mm": 1598.8
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 11.21
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 30.54,
+    "Q_rotvec": [
+     0.09689,
+     -0.46996,
+     0.23191
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 60.1,
+    "opposite_sign_bend_deg": 127.3,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 2.18,
+    "hand_vs_marker_frame_deg": {
+     "before": 30.36,
+     "after": 2.18
+    },
+    "markers_on_wrist": [
+     "LWristOut",
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 58.68,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -2.7,
+       3.0
+      ]
+     },
+     "wrist_total_deg_median_after": 14.8,
+     "markers_on_forearm": [
+      "LForearm",
+      "LWristIn"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 98.19,
+    "Q_rotvec": [
+     1.6908,
+     0.1996,
+     -0.19522
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 96.9,
+    "opposite_sign_bend_deg": 95.6,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 3.59,
+    "hand_vs_marker_frame_deg": {
+     "before": 98.77,
+     "after": 3.59
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -95.95,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -2.8,
+       4.7
+      ]
+     },
+     "wrist_total_deg_median_after": 17.9,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-10-29T07:19:40.361312+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/locomanipulation/LM37/session_009",
+  "family": "locomanipulation",
+  "primitive": "LM37",
+  "source_session": "20261027/LM37/20261027_092529_session29"
+ },
+ "task": {
+  "primitive": "LM37",
+  "instruction": "Carry the handheld device and, while walking, point it at the labels on the shelves and press the button as if scanning them."
+ },
+ "objects": [
+  {
+   "name": "BigBox",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "LittleBox2",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "LittleBox3",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "LittleBox4",
+   "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/LM37/session_009/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5c6757916c4c6f7b61877bd31e99d9f1a751017a639090f1a5f18768f460489
+size 1166544

actions/locomanipulation/LM37/session_009/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afb0ac8c7f7cae3e896bff6c3b881583c0962840763dbd2795144461e37a45a2
+size 8949349

actions/locomanipulation/LM37/session_009/motions/object_markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6a40c9af69f12617ce604cf858285dbe2c67d813be974bf7a1a297f93644006
+size 3038386

actions/locomanipulation/LM37/session_009/motions/objects.json

@@ -0,0 +1,149 @@
+{
+ "session": "20261027/LM37/20261027_092529_session29",
+ "generated_at_utc": "2026-11-04T19:55:44.629788+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": "BigBox",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/BigBox/bigbox.ply",
+   "calibration": {
+    "instance": "BigBox",
+    "rms_mm": 1.97
+   },
+   "valid_pct": 99.99,
+   "verified_pct": 99.99,
+   "moving_pct": 0.0,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox2",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox2",
+    "rms_mm": 0.8
+   },
+   "valid_pct": 98.74,
+   "verified_pct": 98.7,
+   "moving_pct": 10.75,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox3",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox3",
+    "rms_mm": 0.57
+   },
+   "valid_pct": 96.0,
+   "verified_pct": 95.99,
+   "moving_pct": 8.9,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox4",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox4",
+    "rms_mm": 0.39
+   },
+   "valid_pct": 99.99,
+   "verified_pct": 99.99,
+   "moving_pct": 12.13,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox6",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox6",
+    "rms_mm": 1.67
+   },
+   "valid_pct": 99.99,
+   "verified_pct": 99.99,
+   "moving_pct": 12.23,
+   "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": [
+   "BigBox0",
+   "LittleBox2",
+   "LittleBox3",
+   "LittleBox4",
+   "LittleBox6",
+   "Table0"
+  ],
+  "listed": [
+   {
+    "name": "BigBox",
+    "object": "BigBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LittleBox2",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LittleBox3",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LittleBox4",
+    "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/LM37/session_009/motions/objects.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:598db18b6042d6354c1909ef61c25ec4244b3ee4b1c932c8552debbb9e4ec697
+size 3732856

actions/locomanipulation/LM37/session_009/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f6f5895051d3005fb352011e4ed94d9c2e226e6c9f0c9e2d180d5e03ab54d86
+size 9048408

actions/locomanipulation/LM37/session_009/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97f4aad7a7600eefd2dcac5eae87472260f72140723b98b83a27957ae540555f
+size 5986478

actions/locomanipulation/LM37/session_009/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:276142092233c6e974372e2825b771fe6539d2e3f5d5e7bf671b9438f4f9995f
+size 25029198

actions/locomanipulation/LM37/session_009/raw/manifest.json

@@ -0,0 +1,396 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-10-27T13:45:15.819129+00:00",
+  "primitive_id": "LM37",
+  "session_id": "20261027_092529_session29",
+  "upload_batch_id": "20261027",
+  "dataset_path": "EgoMotionActions/20261027/LM37/20261027_092529_session29",
+  "segment": "auto/all",
+  "duration_s": 129.900011,
+  "device_ids": {
+    "main": "c9205ac6e17d2d5c",
+    "left": "cc5681142208e29a",
+    "right": "a85418f7d807dff9"
+  },
+  "mocap_rigid_names": [
+    "BigBox",
+    "Body0",
+    "LittleBox2",
+    "LittleBox3",
+    "LittleBox4",
+    "LittleBox6",
+    "Table",
+    "Tracker0"
+  ],
+  "objects": [
+    "BigBox0",
+    "LittleBox2",
+    "LittleBox3",
+    "LittleBox4",
+    "LittleBox6",
+    "Table0"
+  ],
+  "options": {
+    "raw_video": true,
+    "proxy_height": 540,
+    "proxy_crf": 28,
+    "proxy_bitrate": "1400k",
+    "mocap_selection": "explicit",
+    "mocap_files": [
+      "mocap-LM37-S05-gaoziyue-01p2/mocap-LM37-S05-gaoziyue-01p2-1.mp4",
+      "mocap-LM37-S05-gaoziyue-01p2/mocap-LM37-S05-gaoziyue-01p2-BigBox.csv",
+      "mocap-LM37-S05-gaoziyue-01p2/mocap-LM37-S05-gaoziyue-01p2-BigBox.trc",
+      "mocap-LM37-S05-gaoziyue-01p2/mocap-LM37-S05-gaoziyue-01p2-Body0.bvh",
+      "mocap-LM37-S05-gaoziyue-01p2/mocap-LM37-S05-gaoziyue-01p2-Body0.csv",
+      "mocap-LM37-S05-gaoziyue-01p2/mocap-LM37-S05-gaoziyue-01p2-Body0.trc",
+      "mocap-LM37-S05-gaoziyue-01p2/mocap-LM37-S05-gaoziyue-01p2-LittleBox2.csv",
+      "mocap-LM37-S05-gaoziyue-01p2/mocap-LM37-S05-gaoziyue-01p2-LittleBox2.trc",
+      "mocap-LM37-S05-gaoziyue-01p2/mocap-LM37-S05-gaoziyue-01p2-LittleBox3.csv",
+      "mocap-LM37-S05-gaoziyue-01p2/mocap-LM37-S05-gaoziyue-01p2-LittleBox3.trc",
+      "mocap-LM37-S05-gaoziyue-01p2/mocap-LM37-S05-gaoziyue-01p2-LittleBox4.csv",
+      "mocap-LM37-S05-gaoziyue-01p2/mocap-LM37-S05-gaoziyue-01p2-LittleBox4.trc",
+      "mocap-LM37-S05-gaoziyue-01p2/mocap-LM37-S05-gaoziyue-01p2-LittleBox6.csv",
+      "mocap-LM37-S05-gaoziyue-01p2/mocap-LM37-S05-gaoziyue-01p2-LittleBox6.trc",
+      "mocap-LM37-S05-gaoziyue-01p2/mocap-LM37-S05-gaoziyue-01p2-Table.csv",
+      "mocap-LM37-S05-gaoziyue-01p2/mocap-LM37-S05-gaoziyue-01p2-Table.trc",
+      "mocap-LM37-S05-gaoziyue-01p2/mocap-LM37-S05-gaoziyue-01p2-Tracker0.csv",
+      "mocap-LM37-S05-gaoziyue-01p2/mocap-LM37-S05-gaoziyue-01p2-Tracker0.trc"
+    ],
+    "include_rrd": false,
+    "rrd_files": [],
+    "aligned_intersection": false
+  },
+  "files": [
+    {
+      "source": "audio_segment1.wav",
+      "packaged_as": "audio_segment1.wav",
+      "kind": "data",
+      "original_bytes": 25029198,
+      "packaged_bytes": 25029198,
+      "compressed_video": false,
+      "sha256": "276142092233c6e974372e2825b771fe6539d2e3f5d5e7bf671b9438f4f9995f"
+    },
+    {
+      "source": "mocap-LM37-S05-gaoziyue-01p2/mocap-LM37-S05-gaoziyue-01p2-1.mp4",
+      "packaged_as": "mocap/mocap-LM37-S05-gaoziyue-01p2-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 42654989,
+      "packaged_bytes": 42654989,
+      "compressed_video": false,
+      "sha256": "7360da0d1dc8db7e590d0def7a74ca7aceff3855995e1cba2e44d80d27dfdae5"
+    },
+    {
+      "source": "mocap-LM37-S05-gaoziyue-01p2/mocap-LM37-S05-gaoziyue-01p2-BigBox.csv",
+      "packaged_as": "mocap/mocap-LM37-S05-gaoziyue-01p2-BigBox.csv",
+      "kind": "data",
+      "original_bytes": 4810964,
+      "packaged_bytes": 4810964,
+      "compressed_video": false,
+      "sha256": "752383a5caca87d1b62916c6851a0172497d8f8cb25a789d500993058769ce32"
+    },
+    {
+      "source": "mocap-LM37-S05-gaoziyue-01p2/mocap-LM37-S05-gaoziyue-01p2-BigBox.trc",
+      "packaged_as": "mocap/mocap-LM37-S05-gaoziyue-01p2-BigBox.trc",
+      "kind": "data",
+      "original_bytes": 2611667,
+      "packaged_bytes": 2611667,
+      "compressed_video": false,
+      "sha256": "068c9eedf8060672d4fd5a8c9efb349b8e3aa1964ee9e57c685f7b6c61acc0b5"
+    },
+    {
+      "source": "mocap-LM37-S05-gaoziyue-01p2/mocap-LM37-S05-gaoziyue-01p2-Body0.bvh",
+      "packaged_as": "mocap/mocap-LM37-S05-gaoziyue-01p2-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 9390365,
+      "packaged_bytes": 9390365,
+      "compressed_video": false,
+      "sha256": "75909786d5e1b7f24c6ea8d4b9036e8f68808f4fcef107e9aef8d3fd4b4f392a"
+    },
+    {
+      "source": "mocap-LM37-S05-gaoziyue-01p2/mocap-LM37-S05-gaoziyue-01p2-Body0.csv",
+      "packaged_as": "mocap/mocap-LM37-S05-gaoziyue-01p2-Body0.csv",
+      "kind": "data",
+      "original_bytes": 129813992,
+      "packaged_bytes": 129813992,
+      "compressed_video": false,
+      "sha256": "d3a2c8df4eac1dd614775dd15ce7ae4a6eedc25f1d67cbac69c96a353b5bd13b"
+    },
+    {
+      "source": "mocap-LM37-S05-gaoziyue-01p2/mocap-LM37-S05-gaoziyue-01p2-Body0.trc",
+      "packaged_as": "mocap/mocap-LM37-S05-gaoziyue-01p2-Body0.trc",
+      "kind": "data",
+      "original_bytes": 28766304,
+      "packaged_bytes": 28766304,
+      "compressed_video": false,
+      "sha256": "880c160a335d90372db8c553560bdbea1145a390e4fdd958717ea11d9709986e"
+    },
+    {
+      "source": "mocap-LM37-S05-gaoziyue-01p2/mocap-LM37-S05-gaoziyue-01p2-LittleBox2.csv",
+      "packaged_as": "mocap/mocap-LM37-S05-gaoziyue-01p2-LittleBox2.csv",
+      "kind": "data",
+      "original_bytes": 4912855,
+      "packaged_bytes": 4912855,
+      "compressed_video": false,
+      "sha256": "4532793dd80fbd43d84324ea10e766aab12c47f8536227feeea9fe1a2c93a23c"
+    },
+    {
+      "source": "mocap-LM37-S05-gaoziyue-01p2/mocap-LM37-S05-gaoziyue-01p2-LittleBox2.trc",
+      "packaged_as": "mocap/mocap-LM37-S05-gaoziyue-01p2-LittleBox2.trc",
+      "kind": "data",
+      "original_bytes": 4686431,
+      "packaged_bytes": 4686431,
+      "compressed_video": false,
+      "sha256": "5727eeb7df2ea5d52cfd9c0a357697b59d604cd7d5e3fa18211a81ea79a82caa"
+    },
+    {
+      "source": "mocap-LM37-S05-gaoziyue-01p2/mocap-LM37-S05-gaoziyue-01p2-LittleBox3.csv",
+      "packaged_as": "mocap/mocap-LM37-S05-gaoziyue-01p2-LittleBox3.csv",
+      "kind": "data",
+      "original_bytes": 4826497,
+      "packaged_bytes": 4826497,
+      "compressed_video": false,
+      "sha256": "6f94de514b8f949968b63e9349288e2c9196110a4631df6917a3b51c8083ba8f"
+    },
+    {
+      "source": "mocap-LM37-S05-gaoziyue-01p2/mocap-LM37-S05-gaoziyue-01p2-LittleBox3.trc",
+      "packaged_as": "mocap/mocap-LM37-S05-gaoziyue-01p2-LittleBox3.trc",
+      "kind": "data",
+      "original_bytes": 4540969,
+      "packaged_bytes": 4540969,
+      "compressed_video": false,
+      "sha256": "c65472d7843f953ed971f5e327970b794019ac24b0e40a7504328737d5fedfbe"
+    },
+    {
+      "source": "mocap-LM37-S05-gaoziyue-01p2/mocap-LM37-S05-gaoziyue-01p2-LittleBox4.csv",
+      "packaged_as": "mocap/mocap-LM37-S05-gaoziyue-01p2-LittleBox4.csv",
+      "kind": "data",
+      "original_bytes": 4890696,
+      "packaged_bytes": 4890696,
+      "compressed_video": false,
+      "sha256": "af02c9af149a0fee1ec5572193ae711056e9bfcffc855c9097370ac69460fa5f"
+    },
+    {
+      "source": "mocap-LM37-S05-gaoziyue-01p2/mocap-LM37-S05-gaoziyue-01p2-LittleBox4.trc",
+      "packaged_as": "mocap/mocap-LM37-S05-gaoziyue-01p2-LittleBox4.trc",
+      "kind": "data",
+      "original_bytes": 4759147,
+      "packaged_bytes": 4759147,
+      "compressed_video": false,
+      "sha256": "06e834c282a8d734a071f05d93a22b02256fbad503a167d190d3aaf100de539a"
+    },
+    {
+      "source": "mocap-LM37-S05-gaoziyue-01p2/mocap-LM37-S05-gaoziyue-01p2-LittleBox6.csv",
+      "packaged_as": "mocap/mocap-LM37-S05-gaoziyue-01p2-LittleBox6.csv",
+      "kind": "data",
+      "original_bytes": 4883732,
+      "packaged_bytes": 4883732,
+      "compressed_video": false,
+      "sha256": "aaa9231850e04d4af2e43a1838e199fe6dcf1d79ed725888d84842603735b4a3"
+    },
+    {
+      "source": "mocap-LM37-S05-gaoziyue-01p2/mocap-LM37-S05-gaoziyue-01p2-LittleBox6.trc",
+      "packaged_as": "mocap/mocap-LM37-S05-gaoziyue-01p2-LittleBox6.trc",
+      "kind": "data",
+      "original_bytes": 4739455,
+      "packaged_bytes": 4739455,
+      "compressed_video": false,
+      "sha256": "ef9153a3b1c9b1cfa1fec4481f08a6bd4a85595bc72c94856af024fee0a58243"
+    },
+    {
+      "source": "mocap-LM37-S05-gaoziyue-01p2/mocap-LM37-S05-gaoziyue-01p2-Table.csv",
+      "packaged_as": "mocap/mocap-LM37-S05-gaoziyue-01p2-Table.csv",
+      "kind": "data",
+      "original_bytes": 4776580,
+      "packaged_bytes": 4776580,
+      "compressed_video": false,
+      "sha256": "f21209e63a192376e7a91f8eda46d95af3ca72c8bc8229b804c854baa15a5674"
+    },
+    {
+      "source": "mocap-LM37-S05-gaoziyue-01p2/mocap-LM37-S05-gaoziyue-01p2-Table.trc",
+      "packaged_as": "mocap/mocap-LM37-S05-gaoziyue-01p2-Table.trc",
+      "kind": "data",
+      "original_bytes": 4810945,
+      "packaged_bytes": 4810945,
+      "compressed_video": false,
+      "sha256": "1042201310a074298c5b4e8adc21ad1b85f3f1b31590a0b705eead89403301cd"
+    },
+    {
+      "source": "mocap-LM37-S05-gaoziyue-01p2/mocap-LM37-S05-gaoziyue-01p2-Tracker0.csv",
+      "packaged_as": "mocap/mocap-LM37-S05-gaoziyue-01p2-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 5004422,
+      "packaged_bytes": 5004422,
+      "compressed_video": false,
+      "sha256": "28fd792d4921ba78390f1e4ae9c856de003a320d18329aefd3535e1e9889ec24"
+    },
+    {
+      "source": "mocap-LM37-S05-gaoziyue-01p2/mocap-LM37-S05-gaoziyue-01p2-Tracker0.trc",
+      "packaged_as": "mocap/mocap-LM37-S05-gaoziyue-01p2-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 4833884,
+      "packaged_bytes": 4833884,
+      "compressed_video": false,
+      "sha256": "b72a65ed3b3c39bc44c2dfa8fbb71796d1dadaf05e6111f84c9e22676032db18"
+    },
+    {
+      "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": "3acce6e65e975ee8a00ad26f542226ee010e46172ff67ea24861b3f055ddcf53"
+    },
+    {
+      "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": "d5c99c11b2e1da9fc1cac8c13c0321a04cb17ba928422a9d6160661eb9afb3b8"
+    },
+    {
+      "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": "b3bc42f17a697b86858f6e61deb3940f12e7d752965e55c6c69ede1a1f0e02a8"
+    },
+    {
+      "source": "robocap_segment1_video_left.mp4",
+      "packaged_as": "robocap_segment1_video_left.mp4",
+      "kind": "video_raw",
+      "original_bytes": 65136438,
+      "packaged_bytes": 65136438,
+      "compressed_video": false,
+      "sha256": "510cb1403996dfcc935f71bb197f9e1e0692005bf5bf6bf2aa0b847058d86eb4"
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 65136401,
+      "packaged_bytes": 65136401,
+      "compressed_video": false,
+      "sha256": "35c1f4ac87f40249531f7584082fc65c8e4da67d6c8faa687e28f79e0026c866"
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 65081056,
+      "packaged_bytes": 65081056,
+      "compressed_video": false,
+      "sha256": "05f3ce9d3a4067c17f0f9752e835329f7f7ce737de9e109c7f547be752efb740"
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 65121126,
+      "packaged_bytes": 65121126,
+      "compressed_video": false,
+      "sha256": "9d8f0236112471e026f3094370bb2104c02f8a480405aa25b52d5b2bf0d8d812"
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 65107975,
+      "packaged_bytes": 65107975,
+      "compressed_video": false,
+      "sha256": "4da774a1d4ddaf5755e61b0dd9002c384cffd9121383adfca0bd2d51a7c24801"
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 65135467,
+      "packaged_bytes": 65135467,
+      "compressed_video": false,
+      "sha256": "e5cb55791cc257d1762fcf9d5a6df370f97855c13ecb78b931d96f689ef2626f"
+    },
+    {
+      "source": "robowrist_a85418f7d807dff9_right/robowrist_segment1_imu_right.db",
+      "packaged_as": "robowrist_a85418f7d807dff9_right/robowrist_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1273856,
+      "packaged_bytes": 1273856,
+      "compressed_video": false,
+      "sha256": "1a22a8fd02669f8073e01d3211c1ca0ba9af81369c9dbec848d7b8622acffc89"
+    },
+    {
+      "source": "robowrist_a85418f7d807dff9_right/robowrist_segment1_mag_right.db",
+      "packaged_as": "robowrist_a85418f7d807dff9_right/robowrist_segment1_mag_right.db",
+      "kind": "data",
+      "original_bytes": 335872,
+      "packaged_bytes": 335872,
+      "compressed_video": false,
+      "sha256": "c3d5f9af36e3f3cb8dec18bd84b6708a19c42404536c0eff7034e3ef3e21e272"
+    },
+    {
+      "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": 44976541,
+      "packaged_bytes": 44976541,
+      "compressed_video": false,
+      "sha256": "0c8741c7dde5aaa4d0ed4f1939819b23dac80368fe667cb2caea8efe6af104af"
+    },
+    {
+      "source": "robowrist_cc5681142208e29a_left/robowrist_segment1_imu_left.db",
+      "packaged_as": "robowrist_cc5681142208e29a_left/robowrist_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1273856,
+      "packaged_bytes": 1273856,
+      "compressed_video": false,
+      "sha256": "0cff187779c673416fdab6d73dbbcd7ef0500900e3c5aba9c475c2202650dfc1"
+    },
+    {
+      "source": "robowrist_cc5681142208e29a_left/robowrist_segment1_mag_left.db",
+      "packaged_as": "robowrist_cc5681142208e29a_left/robowrist_segment1_mag_left.db",
+      "kind": "data",
+      "original_bytes": 335872,
+      "packaged_bytes": 335872,
+      "compressed_video": false,
+      "sha256": "17dc4cdb3cc7e7091e6ff8740a931206afc6b0c30ba8c36b7c62d9065fb11e8c"
+    },
+    {
+      "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": 48747091,
+      "packaged_bytes": 48747091,
+      "compressed_video": false,
+      "sha256": "86eb736ec491314df79448a37951f73f1265c3d5904e983f7c8bb3ac2b9bed67"
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 1102354,
+      "packaged_bytes": 1102301,
+      "compressed_video": false,
+      "sha256": "cb6eeac553c935ccc23afb212103c3b99c7bb52a2f9739d35411b03c9b1ad5f6"
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-LM37-S05-gaoziyue-01p2",
+    "action_id": "LM37",
+    "collection_session_index": 5,
+    "participant": "gaoziyue",
+    "repetition_count": 1
+  },
+  "upload_batch_created_at": "2026-10-27T22:07:48.205629+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"
+  }
+}