Release update 2026-11-05: 5760 sessions, instructions, annotations (part 324)

.gitattributes

@@ -44069,3 +44069,21 @@ actions/locomanipulation/LM09/session_020/raw/sensors/robowrist_mag_left.db filt
 actions/locomanipulation/LM09/session_020/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM09/session_021/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM09/session_021/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM09/session_021/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM09/session_021/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM09/session_021/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM09/session_021/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM09/session_021/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM09/session_021/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM09/session_021/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM09/session_022/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM09/session_022/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM09/session_022/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM09/session_022/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM09/session_022/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM09/session_022/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM09/session_022/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM09/session_022/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM09/session_022/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM09/session_023/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM09/session_023/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text

actions/locomanipulation/LM09/session_021/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:202084105092c5ba2fc8f232af6f765f9b983af92b051ad1dfa491d8ce865b03
+size 1478656

actions/locomanipulation/LM09/session_021/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:612924070a957509a04c50c10140eb249c76b5e89340f2e8aa664263a142d165
+size 1429504

actions/locomanipulation/LM09/session_021/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e1665b23c525139aec46f8286670fc379301dc1183d532b13613077a7c1232a
+size 380928

actions/locomanipulation/LM09/session_021/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:838e85e2edf642ada92561c04a34870982a12b2866aeebaeea5a5509b71f671a
+size 1433600

actions/locomanipulation/LM09/session_021/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e44ce23a0def8f67c6998160c20ea211e3bbb0a6284e763d058bb9d8f5de9870
+size 1441792

actions/locomanipulation/LM09/session_021/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e01c07dced4bf69aed5816db08340c1478bc020087d77e701e1a852c9c013004
+size 368640

actions/locomanipulation/LM09/session_021/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:879e6d566e36441e426e68bfc3bf673fadedeeaff11449e4008834ccb6028935
+size 368640

actions/locomanipulation/LM09/session_021/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a9344fb1fd2c89bb2e6beba36647d5fed34019672387f5619aa2b1c72763094
+size 1528147

actions/locomanipulation/LM09/session_021/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd1db7f0c478d5251ec6566a139ed0919a1031784dae18d42be62305d816bc44
+size 178166

actions/locomanipulation/LM09/session_021/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2dda00217b9d657ae4f95aa343e42d34604ab25205eaa6dc491e7113f6c6949
+size 1642490

actions/locomanipulation/LM09/session_021/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:588e070f1cf30366d9fe177872c321cfd1415a9069021d5b15349ffce74d8a12
+size 324324

actions/locomanipulation/LM09/session_021/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab3af7d6032aa26b0c6c38975d80ea6abd3bcb294cdf78de30fe90db53c5bede
+size 281067

actions/locomanipulation/LM09/session_021/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3eab985c6233024117f177ed672dd5000a2170df9d45e6668d8b7242154a77fd
+size 71623353

actions/locomanipulation/LM09/session_021/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4616eed0c8a59ef1ffb24efddc4b2c39198dd0ea9a7b02d990d244d1c7f02a30
+size 71561332

actions/locomanipulation/LM09/session_021/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1145fa23be607a99baf35138f4d1ef56298c3ba9cb0df80d87e6676919e60123
+size 71627260

actions/locomanipulation/LM09/session_021/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8143285334de5ab9ddabb6d1452974fd641800bbcd6450e78f49ce2a2c0a5877
+size 71591007

actions/locomanipulation/LM09/session_021/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ade24c3c05e093882e830779f0c5cc8e6c1fc789a2319556b0e77830770b74a4
+size 71600314

actions/locomanipulation/LM09/session_021/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afaf287e1af6f84f53f03a928af7f218e96224c2f2c306167a4c4238aa48a074
+size 71662642

actions/locomanipulation/LM09/session_021/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b3e9200e788d129e3c0d332ebc0bab14f5062bf9c8baa66a4c2e3238b893ae6
+size 74912093

actions/locomanipulation/LM09/session_021/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:548783cb904db9bca2b783b9ad785cd2c377dd9ad499321223495e3bb72aecf1
+size 64450333

actions/locomanipulation/LM09/session_021/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfc4e88a7b6bbbbe5b1ceb25aefc1446e910c5dc1e25980eb7404bb83ed697ce
+size 57729784

actions/locomanipulation/LM09/session_022/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cfb806c2015299e5090104e45afdf6b8cfaf550ad9560c7590c8141dfbc133d
+size 785981

actions/locomanipulation/LM09/session_022/meta.json

@@ -0,0 +1,610 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261030/LM09/20261030_105226_session23",
+ "session_id": "20261030_105226_session23",
+ "primitive": "LM09",
+ "batch": "20261030",
+ "participant": "liujiaxin",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e3296774a321bb51",
+  "left": "75b5984e04d1d236",
+  "right": "c84bc808cb6b47af"
+ },
+ "generated_at_utc": "2026-11-03T05:46:32.889682+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": 89.79166666666667,
+  "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": -0.08553,
+  "rate": 0.0,
+  "global_lag_s": -0.085,
+  "peak_corr": 0.9893,
+  "reference_imu_first_sample_s": 5257.010497974,
+  "windows": {
+   "n_windows": 7,
+   "window_corr_median": 0.9977103733397612,
+   "drift_ppm": -1050.1167709057074,
+   "drift_se_ppm": 622.6828306047036,
+   "drift_ms_over_take": -94.28298408115076,
+   "lag_scatter_ms": 27.84722275308208,
+   "lag_range_ms": 100.43413915802539
+  }
+ },
+ "units": {
+  "mocap": "millimetres, Nokov world, Y-up (unchanged)",
+  "y_up_to_z_up": [
+   [
+    1.0,
+    0.0,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   [
+    0.0,
+    1.0,
+    0.0
+   ]
+  ],
+  "acc": "m/s^2 (8192 LSB/g)",
+  "gyro": "rad/s (65.536 LSB/dps)",
+  "mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
+  "quaternions": "xyzw, Nokov global"
+ },
+ "calibration": {
+  "device": "e3296774a321bb51",
+  "status": "ok",
+  "date": "2026-10-21"
+ },
+ "streams": {
+  "sensors": {
+   "imu_head_right": {
+    "n_acc": 18151,
+    "n_gyro": 18145,
+    "t_start": -0.09704369326394714,
+    "t_end": 89.98989291473569
+   },
+   "imu_head_left": {
+    "n_acc": 18066,
+    "n_gyro": 18061,
+    "t_start": 0.017765534736065666,
+    "t_end": 90.15595631673565
+   },
+   "imu_wrist_right": {
+    "n_acc": 17893,
+    "n_gyro": 17892,
+    "t_start": -0.8257076702639436,
+    "t_end": 88.18939131473596
+   },
+   "imu_wrist_left": {
+    "n_acc": 18031,
+    "n_gyro": 18045,
+    "t_start": -0.76508920826476,
+    "t_end": 88.18946938573569
+   },
+   "mag_head": {
+    "n": 9022,
+    "t_start": 0.11255332673587203,
+    "t_end": 90.32254791173543
+   },
+   "mag_wrist_right": {
+    "n": 8900,
+    "t_start": -0.8063094432646152,
+    "t_end": 88.18409644873552
+   },
+   "mag_wrist_left": {
+    "n": 8894,
+    "t_start": -0.7470240252642155,
+    "t_end": 88.18314204273608
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 5257.13342,
+    "frames": 2693,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0025546514432425653,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.03994713917924185,
+    "t_end": 89.7732581391792,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 5257.133392,
+    "frames": 2693,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002366886077403108,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.03973137381304935,
+    "t_end": 89.7730533738131,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 5257.133406,
+    "frames": 2693,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0026728712083183277,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.040051358943822044,
+    "t_end": 89.77336235894379,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 5257.133436,
+    "frames": 2693,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002595594493655556,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.04000408222960926,
+    "t_end": 89.77331508222957,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 60.0,
+    "start_device_s": 5257.150059,
+    "frames": 2552,
+    "pts_gaps": 2551,
+    "timing": "pts (gap undecided)",
+    "timeshift_cam_imu_s": 0.002394386090989767,
+    "gap_test": {
+     "pts": {
+      "offset_ms": -2.4,
+      "corr": 0.903,
+      "err_ms": 4.7
+     },
+     "nominal": {
+      "offset_ms": -150.0,
+      "corr": 0.156,
+      "err_ms": 152.4
+     }
+    },
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.056425873825867376,
+    "t_end": 89.78966987382589,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 5257.133371,
+    "frames": 2693,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002315656053021164,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.039659143788378634,
+    "t_end": 89.77298114378843,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 5256.328351,
+    "frames": 2668,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_75b5984e04d1d236_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": -0.7676765122642222,
+    "t_end": 88.13245348773577,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 5256.312712,
+    "frames": 2669,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": -0.7833155122644142,
+    "t_end": 88.15040848773603,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-LM09-S06-liujiaxin-01p1-1.mp4",
+    "frames": 2694,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 89.76666666666667
+   }
+  }
+ },
+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
+ "rig_tracker": {
+  "definition": "e3296774a321bb51/20261030-afternoon/labels-053142/session-dd4aa43f261da94d",
+  "R_tracker0_imu0": [
+   [
+    -0.60557712,
+    0.20470202,
+    -0.76900809
+   ],
+   [
+    0.79341695,
+    0.22982995,
+    -0.56362021
+   ],
+   [
+    0.06136689,
+    -0.95145955,
+    -0.30159381
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   -0.18349712645785404,
+   0.004839505241736297,
+   -0.019452352879702556
+  ],
+  "rig_check": {
+   "gyro_samples": 4632,
+   "gyro_max_deg": 2.5,
+   "status": "video_solve",
+   "dropped_marker": null,
+   "gyro_deg": 1.538,
+   "video_solve": {
+    "status": "ok",
+    "reason": "",
+    "reprojection_px": 3.192,
+    "n_assoc": 417,
+    "gyro_deg": 1.538
+   }
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "canonical": {
+  "generated_at_utc": "2026-11-03T09:17:47.829334+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": [
+   [
+    0.9999959911,
+    0.0028315371,
+    1.0128e-05
+   ],
+   [
+    -1.0128e-05,
+    0.0071536355,
+    -0.9999744124
+   ],
+   [
+    -0.0028315371,
+    0.9999704035,
+    0.0071536355
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.000999995991,
+    2.831537e-06,
+    1.0128e-08,
+    0.0
+   ],
+   [
+    -1.0128e-08,
+    7.153635e-06,
+    -0.000999974412,
+    0.0
+   ],
+   [
+    -2.831537e-06,
+    0.000999970404,
+    7.153635e-06,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20261030-afternoon",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.44081747329349447,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 30.2,
+   "headtop_p95_mm": 1660.9
+  },
+  "gravity_check": {
+   "static_samples": 638,
+   "g_world_mean_m_s2": [
+    0.2294,
+    0.0535,
+    9.7682
+   ],
+   "tilt_from_z_deg": 1.381,
+   "tilt_from_z_deg_before_levelling": 1.187,
+   "magnitude_m_s2": 9.771
+  },
+  "rig_tracker_definition": "e3296774a321bb51/20261030-afternoon/labels-053142/session-dd4aa43f261da94d",
+  "rig_check": {
+   "status": "video_solve",
+   "dropped_marker": null,
+   "gyro_deg": 1.538
+  },
+  "camera_pose_source": "T_tracker0_imu0 @ inv(T_cam_imu)",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-11-03T15:08:32.413359+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": [
+      0.05822856351733208,
+      0.009358260780572891,
+      -0.029708843678236008
+     ],
+     "LHandOut": [
+      0.06815215945243835,
+      0.0128087867051363,
+      0.02275705896317959
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.09196309745311737,
+      -0.008269384503364563,
+      0.03748083859682083
+     ],
+     "RHandOut": [
+      -0.07266861945390701,
+      0.01489927526563406,
+      -0.020762156695127487
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 5.01,
+   "p95_frame": 6.64
+  },
+  "worst_markers": [
+   "RKneeIn 12mm",
+   "LElbowIn 11mm",
+   "RElbow 9mm",
+   "LElbow 9mm",
+   "LKneeIn 7mm"
+  ],
+  "valid_fraction": 1.0,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 15.9,
+    "p5": 8.4
+   },
+   "frames_checked": 360,
+   "stature_mm": 1614.2
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 12.44
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 178.51,
+    "Q_rotvec": [
+     -3.02511,
+     0.19227,
+     0.72046
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 172.9,
+    "opposite_sign_bend_deg": 35.6,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 4.32,
+    "hand_vs_marker_frame_deg": {
+     "before": 178.57,
+     "after": 4.32
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -167.56,
+     "wrist_twist_deg_after": {
+      "median": -6.54,
+      "iqr": [
+       -12.4,
+       0.1
+      ]
+     },
+     "wrist_total_deg_median_after": 38.5,
+     "markers_on_forearm": [
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 969
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 27.52,
+    "Q_rotvec": [
+     0.47734,
+     0.00588,
+     -0.05339
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 31.5,
+    "opposite_sign_bend_deg": 155.4,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 2.58,
+    "hand_vs_marker_frame_deg": {
+     "before": 27.85,
+     "after": 2.58
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -28.05,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -5.3,
+       9.3
+      ]
+     },
+     "wrist_total_deg_median_after": 13.6,
+     "markers_on_forearm": [
+      "RElbowIn",
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1078
+   },
+   "generated_at_utc": "2026-11-03T15:08:35.094542+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "marker_relabel": {
+  "generated_at_utc": "2026-11-03T14:19:20.721489+00:00",
+  "generated_by": "scripts/relabel_marker_swaps.py",
+  "margin_s": 0.75,
+  "sides": {
+   "left": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 2014,
+    "frames_flipped": 287,
+    "stretches": [
+     {
+      "t0": 7.2,
+      "t1": 14.08,
+      "dur_s": 6.88,
+      "marker_turn_deg": 71.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 156.6,
+      "err_swapped_deg": 8.8,
+      "calib_err_deg": 15.1,
+      "applied": true
+     },
+     {
+      "t0": 19.87,
+      "t1": 21.48,
+      "dur_s": 1.62,
+      "marker_turn_deg": 43.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 156.2,
+      "err_swapped_deg": 21.3,
+      "calib_err_deg": 15.1,
+      "applied": true
+     },
+     {
+      "t0": 58.48,
+      "t1": 63.02,
+      "dur_s": 4.53,
+      "marker_turn_deg": 140.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 158.9,
+      "err_swapped_deg": 8.3,
+      "calib_err_deg": 15.1,
+      "applied": true
+     }
+    ]
+   },
+   "right": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 2399,
+    "frames_flipped": 0,
+    "stretches": []
+   }
+  },
+  "applied": 3
+ },
+ "release": {
+  "release_path": "actions/locomanipulation/LM09/session_022",
+  "family": "locomanipulation",
+  "primitive": "LM09",
+  "source_session": "20261030/LM09/20261030_105226_session23"
+ },
+ "task": {
+  "primitive": "LM09",
+  "instruction": "Take an object from the highest shelf you can comfortably reach, carry it across, and place it on the lowest shelf. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+ },
+ "objects": [
+  {
+   "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/LM09/session_022/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b630ea231714db59a0863af01e52791a39d9931f57d6573a138b1f38e1542c1e
+size 806122

actions/locomanipulation/LM09/session_022/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:126971fd56de6279e9119a3aca352077c4410d2c424282f6c1f3d35f8e968624
+size 6219830

actions/locomanipulation/LM09/session_022/motions/object_markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8799ecfc979e8d784758e6897c1333b495dc928eeef90aee8f8c31a39308981a
+size 1180841

actions/locomanipulation/LM09/session_022/motions/objects.json

@@ -0,0 +1,105 @@
+{
+ "session": "20261030/LM09/20261030_105226_session23",
+ "generated_at_utc": "2026-11-04T20:51:10.819731+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": "LittleBox4",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox4",
+    "rms_mm": 0.38
+   },
+   "valid_pct": 99.99,
+   "verified_pct": 99.98,
+   "moving_pct": 16.72,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox5",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox5",
+    "rms_mm": 2.02
+   },
+   "valid_pct": 76.25,
+   "verified_pct": 76.24,
+   "moving_pct": 19.1,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox6",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox6",
+    "rms_mm": 1.76
+   },
+   "valid_pct": 99.17,
+   "verified_pct": 99.16,
+   "moving_pct": 20.82,
+   "vision_source": null
+  },
+  {
+   "name": "Table",
+   "object_type": "Table",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 92.93,
+   "verified_pct": 92.92,
+   "moving_pct": 0.0,
+   "vision_source": null
+  }
+ ],
+ "absent": [],
+ "object_list": {
+  "status": "corrected",
+  "notes": [],
+  "declared": [
+   "LittleBox4",
+   "LittleBox5",
+   "LittleBox6",
+   "Table0"
+  ],
+  "listed": [
+   {
+    "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/LM09/session_022/motions/objects.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24c8a96ab0034c47a64d4b55ed7b88c1aaa957dac7df8005b2a6d3d69e45c121
+size 1540174

actions/locomanipulation/LM09/session_022/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a40974d08b9a225236fd3fb2c2d83a9f275f21adc0fdc70b0d1eeda4c6ab1fe
+size 6276540

actions/locomanipulation/LM09/session_022/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e0565082a702f313e5d3ebb0334c57fce93785933040f97fda850c3c3eb8071
+size 4151303

actions/locomanipulation/LM09/session_022/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df22d6fc195ba259617fccb742d09fc8ab13ed1c2b575a6b991005f179f76f47
+size 17318478

actions/locomanipulation/LM09/session_022/raw/manifest.json

@@ -0,0 +1,352 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-10-31T13:06:51.050207+00:00",
+  "primitive_id": "LM09",
+  "session_id": "20261030_105226_session23",
+  "upload_batch_id": "20261030",
+  "dataset_path": "EgoMotionActions/20261030/LM09/20261030_105226_session23",
+  "segment": "auto/all",
+  "duration_s": 89.733311,
+  "device_ids": {
+    "main": "e3296774a321bb51",
+    "left": "75b5984e04d1d236",
+    "right": "c84bc808cb6b47af"
+  },
+  "mocap_rigid_names": [
+    "Body0",
+    "LittleBox4",
+    "LittleBox5",
+    "LittleBox6",
+    "Table",
+    "Tracker0"
+  ],
+  "objects": [
+    "LittleBox4",
+    "LittleBox5",
+    "LittleBox6",
+    "Table0"
+  ],
+  "options": {
+    "raw_video": true,
+    "proxy_height": 540,
+    "proxy_crf": 28,
+    "proxy_bitrate": "1400k",
+    "mocap_selection": "explicit",
+    "mocap_files": [
+      "mocap-LM09-S06-liujiaxin-01p1/mocap-LM09-S06-liujiaxin-01p1-1.mp4",
+      "mocap-LM09-S06-liujiaxin-01p1/mocap-LM09-S06-liujiaxin-01p1-Body0.bvh",
+      "mocap-LM09-S06-liujiaxin-01p1/mocap-LM09-S06-liujiaxin-01p1-Body0.csv",
+      "mocap-LM09-S06-liujiaxin-01p1/mocap-LM09-S06-liujiaxin-01p1-Body0.trc",
+      "mocap-LM09-S06-liujiaxin-01p1/mocap-LM09-S06-liujiaxin-01p1-LittleBox4.csv",
+      "mocap-LM09-S06-liujiaxin-01p1/mocap-LM09-S06-liujiaxin-01p1-LittleBox4.trc",
+      "mocap-LM09-S06-liujiaxin-01p1/mocap-LM09-S06-liujiaxin-01p1-LittleBox5.csv",
+      "mocap-LM09-S06-liujiaxin-01p1/mocap-LM09-S06-liujiaxin-01p1-LittleBox5.trc",
+      "mocap-LM09-S06-liujiaxin-01p1/mocap-LM09-S06-liujiaxin-01p1-LittleBox6.csv",
+      "mocap-LM09-S06-liujiaxin-01p1/mocap-LM09-S06-liujiaxin-01p1-LittleBox6.trc",
+      "mocap-LM09-S06-liujiaxin-01p1/mocap-LM09-S06-liujiaxin-01p1-Table.csv",
+      "mocap-LM09-S06-liujiaxin-01p1/mocap-LM09-S06-liujiaxin-01p1-Table.trc",
+      "mocap-LM09-S06-liujiaxin-01p1/mocap-LM09-S06-liujiaxin-01p1-Tracker0.csv",
+      "mocap-LM09-S06-liujiaxin-01p1/mocap-LM09-S06-liujiaxin-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": 17318478,
+      "packaged_bytes": 17318478,
+      "compressed_video": false,
+      "sha256": "df22d6fc195ba259617fccb742d09fc8ab13ed1c2b575a6b991005f179f76f47"
+    },
+    {
+      "source": "mocap-LM09-S06-liujiaxin-01p1/mocap-LM09-S06-liujiaxin-01p1-1.mp4",
+      "packaged_as": "mocap/mocap-LM09-S06-liujiaxin-01p1-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 45430924,
+      "packaged_bytes": 45430924,
+      "compressed_video": false,
+      "sha256": "d7328025bdeffe42904b7fe6649a71d5f9501cc9bbdfb7523650bf08ef8b42a1"
+    },
+    {
+      "source": "mocap-LM09-S06-liujiaxin-01p1/mocap-LM09-S06-liujiaxin-01p1-Body0.bvh",
+      "packaged_as": "mocap/mocap-LM09-S06-liujiaxin-01p1-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 6490010,
+      "packaged_bytes": 6490010,
+      "compressed_video": false,
+      "sha256": "517d06718390e75182808c50d4f666eaa33601d9902aadc64d63015b390b8085"
+    },
+    {
+      "source": "mocap-LM09-S06-liujiaxin-01p1/mocap-LM09-S06-liujiaxin-01p1-Body0.csv",
+      "packaged_as": "mocap/mocap-LM09-S06-liujiaxin-01p1-Body0.csv",
+      "kind": "data",
+      "original_bytes": 89417891,
+      "packaged_bytes": 89417891,
+      "compressed_video": false,
+      "sha256": "eb8daf7f1f64c604f7523f42803201a6500ff13495c8d7a7a28d3796b37cb018"
+    },
+    {
+      "source": "mocap-LM09-S06-liujiaxin-01p1/mocap-LM09-S06-liujiaxin-01p1-Body0.trc",
+      "packaged_as": "mocap/mocap-LM09-S06-liujiaxin-01p1-Body0.trc",
+      "kind": "data",
+      "original_bytes": 19541269,
+      "packaged_bytes": 19541269,
+      "compressed_video": false,
+      "sha256": "ccaa37afd42e5faa1b90cb355c22e0aa861ee5dc4b926dbaa4b8f1bebe7b4471"
+    },
+    {
+      "source": "mocap-LM09-S06-liujiaxin-01p1/mocap-LM09-S06-liujiaxin-01p1-LittleBox4.csv",
+      "packaged_as": "mocap/mocap-LM09-S06-liujiaxin-01p1-LittleBox4.csv",
+      "kind": "data",
+      "original_bytes": 3348867,
+      "packaged_bytes": 3348867,
+      "compressed_video": false,
+      "sha256": "97848250a35beb722aed635875fac00b18ddc7781811ac2adf077089f235a92c"
+    },
+    {
+      "source": "mocap-LM09-S06-liujiaxin-01p1/mocap-LM09-S06-liujiaxin-01p1-LittleBox4.trc",
+      "packaged_as": "mocap/mocap-LM09-S06-liujiaxin-01p1-LittleBox4.trc",
+      "kind": "data",
+      "original_bytes": 1636434,
+      "packaged_bytes": 1636434,
+      "compressed_video": false,
+      "sha256": "42a3150d6ab9100852cf6290757693d060b7d2138d7ac9a25d87e25d088fe31a"
+    },
+    {
+      "source": "mocap-LM09-S06-liujiaxin-01p1/mocap-LM09-S06-liujiaxin-01p1-LittleBox5.csv",
+      "packaged_as": "mocap/mocap-LM09-S06-liujiaxin-01p1-LittleBox5.csv",
+      "kind": "data",
+      "original_bytes": 3194344,
+      "packaged_bytes": 3194344,
+      "compressed_video": false,
+      "sha256": "cd654e339913ce6105c1264815fcdf7238969393dc46294cb320506ea26bf2ce"
+    },
+    {
+      "source": "mocap-LM09-S06-liujiaxin-01p1/mocap-LM09-S06-liujiaxin-01p1-LittleBox5.trc",
+      "packaged_as": "mocap/mocap-LM09-S06-liujiaxin-01p1-LittleBox5.trc",
+      "kind": "data",
+      "original_bytes": 1290174,
+      "packaged_bytes": 1290174,
+      "compressed_video": false,
+      "sha256": "47d531c45859f935882e8d3364aedecd0cf7b857a45cf1bd2927b6731025c57c"
+    },
+    {
+      "source": "mocap-LM09-S06-liujiaxin-01p1/mocap-LM09-S06-liujiaxin-01p1-LittleBox6.csv",
+      "packaged_as": "mocap/mocap-LM09-S06-liujiaxin-01p1-LittleBox6.csv",
+      "kind": "data",
+      "original_bytes": 3310803,
+      "packaged_bytes": 3310803,
+      "compressed_video": false,
+      "sha256": "998704274c6d9cd105f7c8098bcf7b72d8c263918b17254a56809303f0aa7756"
+    },
+    {
+      "source": "mocap-LM09-S06-liujiaxin-01p1/mocap-LM09-S06-liujiaxin-01p1-LittleBox6.trc",
+      "packaged_as": "mocap/mocap-LM09-S06-liujiaxin-01p1-LittleBox6.trc",
+      "kind": "data",
+      "original_bytes": 1648807,
+      "packaged_bytes": 1648807,
+      "compressed_video": false,
+      "sha256": "0b815b0248a264f75cf617979274bac48529140e574263394eba66ac1c2b504c"
+    },
+    {
+      "source": "mocap-LM09-S06-liujiaxin-01p1/mocap-LM09-S06-liujiaxin-01p1-Table.csv",
+      "packaged_as": "mocap/mocap-LM09-S06-liujiaxin-01p1-Table.csv",
+      "kind": "data",
+      "original_bytes": 3220464,
+      "packaged_bytes": 3220464,
+      "compressed_video": false,
+      "sha256": "bf173132108195174e3b850884d55ad4ae07162f4155f83bdde42f3506f1082b"
+    },
+    {
+      "source": "mocap-LM09-S06-liujiaxin-01p1/mocap-LM09-S06-liujiaxin-01p1-Table.trc",
+      "packaged_as": "mocap/mocap-LM09-S06-liujiaxin-01p1-Table.trc",
+      "kind": "data",
+      "original_bytes": 1352088,
+      "packaged_bytes": 1352088,
+      "compressed_video": false,
+      "sha256": "0a1b97914528532212abd9bc1e11f5fbd6f82dfdc6aa136e6ea517d85ac47c7c"
+    },
+    {
+      "source": "mocap-LM09-S06-liujiaxin-01p1/mocap-LM09-S06-liujiaxin-01p1-Tracker0.csv",
+      "packaged_as": "mocap/mocap-LM09-S06-liujiaxin-01p1-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 3396280,
+      "packaged_bytes": 3396280,
+      "compressed_video": false,
+      "sha256": "331658878ab951102e49e4b09d5f4b34a52b4d5e9517a7f446f77763c37eaaee"
+    },
+    {
+      "source": "mocap-LM09-S06-liujiaxin-01p1/mocap-LM09-S06-liujiaxin-01p1-Tracker0.trc",
+      "packaged_as": "mocap/mocap-LM09-S06-liujiaxin-01p1-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 3262003,
+      "packaged_bytes": 3262003,
+      "compressed_video": false,
+      "sha256": "47ec35b93a26ad614ff37e41b293f24eb7b011ba3b88d01f5aed11d3470cd50a"
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 929792,
+      "packaged_bytes": 929792,
+      "compressed_video": false,
+      "sha256": "f2c0ccb09a3325de5b59a2ba8789dd8f71b3216344eed95cb504227d6238a8eb"
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 897024,
+      "packaged_bytes": 897024,
+      "compressed_video": false,
+      "sha256": "0eb1a8335c4ec7c940ad4a493f1ef89e5386bdfd45d025ccbd1c97e0ccb4d005"
+    },
+    {
+      "source": "robocap_segment1_mag_middle.db",
+      "packaged_as": "robocap_segment1_mag_middle.db",
+      "kind": "data",
+      "original_bytes": 249856,
+      "packaged_bytes": 249856,
+      "compressed_video": false,
+      "sha256": "df3efb54f08a22b4120aef9169dadc6df7508088b9256047768de3dadff75889"
+    },
+    {
+      "source": "robocap_segment1_video_left.mp4",
+      "packaged_as": "robocap_segment1_video_left.mp4",
+      "kind": "video_raw",
+      "original_bytes": 44985167,
+      "packaged_bytes": 44985167,
+      "compressed_video": false,
+      "sha256": "dabec5a24145b2a47465b170fc081cee8e96b4ea4851b2f7ce341d9a4eebf5fc"
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 42530408,
+      "packaged_bytes": 42530408,
+      "compressed_video": false,
+      "sha256": "4a1cca3ba2b17c45de76d635a4c4b2a8adcfc9e34513d3789c28cb717674c135"
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 44982286,
+      "packaged_bytes": 44982286,
+      "compressed_video": false,
+      "sha256": "996492827fb18f1e6b55464967f089e18999bf1550ba3893aadae340c336b951"
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 45020915,
+      "packaged_bytes": 45020915,
+      "compressed_video": false,
+      "sha256": "23e60a8c9ffe19563642a7f34f27a569fa0aa5e82a7c478d4c10282bf72b5977"
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 44952078,
+      "packaged_bytes": 44952078,
+      "compressed_video": false,
+      "sha256": "c66214551da30d0c8be47faff591ca6241331a5d7ed957687eeb76c04e5d7478"
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 44970569,
+      "packaged_bytes": 44970569,
+      "compressed_video": false,
+      "sha256": "55986fb0069cc4f6bfd30161a9d4c1cba26a03b37f22a754d3c12275625a5e02"
+    },
+    {
+      "source": "robowrist_75b5984e04d1d236_left/robowrist_segment1_imu_left.db",
+      "packaged_as": "robowrist_75b5984e04d1d236_left/robowrist_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 901120,
+      "packaged_bytes": 901120,
+      "compressed_video": false,
+      "sha256": "40ffaeb3682f5abffb3b20d5c26ba11b99b71889eb7c1507cca38d300312ec6f"
+    },
+    {
+      "source": "robowrist_75b5984e04d1d236_left/robowrist_segment1_mag_left.db",
+      "packaged_as": "robowrist_75b5984e04d1d236_left/robowrist_segment1_mag_left.db",
+      "kind": "data",
+      "original_bytes": 237568,
+      "packaged_bytes": 237568,
+      "compressed_video": false,
+      "sha256": "51914c865f5e3dd56e683c1d20077fc6914c4832c1b791ea3cec05d37762d440"
+    },
+    {
+      "source": "robowrist_75b5984e04d1d236_left/robowrist_segment1_video_left_down.mp4",
+      "packaged_as": "robowrist_75b5984e04d1d236_left/robowrist_segment1_video_left_down.mp4",
+      "kind": "video_raw",
+      "original_bytes": 38675537,
+      "packaged_bytes": 38675537,
+      "compressed_video": false,
+      "sha256": "3b25e03af7d67d497ada7e582d1936060f6ab0dfeca0ff6582bc84bf901f7c20"
+    },
+    {
+      "source": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_imu_right.db",
+      "packaged_as": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 892928,
+      "packaged_bytes": 892928,
+      "compressed_video": false,
+      "sha256": "e625fd78114dbced2d4067fac93fbdf0c580cfcf82fbd7a2c5d88e6a60e32911"
+    },
+    {
+      "source": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_mag_right.db",
+      "packaged_as": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_mag_right.db",
+      "kind": "data",
+      "original_bytes": 237568,
+      "packaged_bytes": 237568,
+      "compressed_video": false,
+      "sha256": "e27d8b17c61cf9412b10a8abb658db67d58938722be0c50917bfb3470a943138"
+    },
+    {
+      "source": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_video_right_down.mp4",
+      "packaged_as": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_video_right_down.mp4",
+      "kind": "video_raw",
+      "original_bytes": 42318083,
+      "packaged_bytes": 42318083,
+      "compressed_video": false,
+      "sha256": "a6c238eec3242b10e6359dbd2a53d67d7cc527f79552383269db002b6e8734fe"
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 2092312,
+      "packaged_bytes": 2092264,
+      "compressed_video": false,
+      "sha256": "8b39f9f052d2a8d925de94f42a14168a8ee35631dc995e09d6157d60badd1470"
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-LM09-S06-liujiaxin-01p1",
+    "action_id": "LM09",
+    "collection_session_index": 6,
+    "participant": "liujiaxin",
+    "repetition_count": 1
+  },
+  "upload_batch_created_at": "2026-10-31T21:34:24.781887+08:00",
+  "participant_gender": "female",
+  "participant_height_cm": 161,
+  "participant_weight_kg": 44,
+  "collection_site": {
+    "id": "site_00",
+    "assignment_method": "env",
+    "catalog": "collection_sites.json"
+  }
+}

actions/locomanipulation/LM09/session_022/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb8daf7f1f64c604f7523f42803201a6500ff13495c8d7a7a28d3796b37cb018
+size 89417891

actions/locomanipulation/LM09/session_022/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccaa37afd42e5faa1b90cb355c22e0aa861ee5dc4b926dbaa4b8f1bebe7b4471
+size 19541269