Release update 2026-11-05: new sessions, instructions, annotations (part 78)

.gitattributes

@@ -48925,3 +48925,21 @@ actions/long_horizon_composite/LH02/session_010/raw/sensors/robowrist_imu_left.d
 actions/long_horizon_composite/LH02/session_010/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/long_horizon_composite/LH02/session_010/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/long_horizon_composite/LH02/session_010/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH02/session_011/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH02/session_011/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH02/session_011/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH02/session_011/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH02/session_011/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH02/session_011/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH02/session_011/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH02/session_011/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH02/session_011/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH02/session_012/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH02/session_012/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH02/session_012/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH02/session_012/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH02/session_012/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH02/session_012/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH02/session_012/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH02/session_012/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/long_horizon_composite/LH02/session_012/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/long_horizon_composite/LH02/session_011/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:255b54b9bac8d7bea51d4e05c91f49b83571f40da87bb9183ecf5e1a1abe873e
+size 92719848

actions/long_horizon_composite/LH02/session_011/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb3aaef5bf1aa266e219d1ae2609b9dc7850eda98c187b8afafb56fdc7fa022e
+size 20146289

actions/long_horizon_composite/LH02/session_011/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c58145fdbd998dbec2c9ed9c8c09734c76cab39bf9b737856a7f74adcfcf4f00
+size 962560

actions/long_horizon_composite/LH02/session_011/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f52dc88d0a8a65c431d1d5bed254c8262657ab89e010e300fa86888c9bbd52fe
+size 929792

actions/long_horizon_composite/LH02/session_011/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ac56c071785b00ec11e07b841ff52e84944b160f95061e4f6dea70240f418a4
+size 253952

actions/long_horizon_composite/LH02/session_011/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58bb0b6d7090e771c659b955ef8656410b271dcdee3470dac72845f9f5b897c7
+size 933888

actions/long_horizon_composite/LH02/session_011/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af1bd1f98e2f7b42d21b2d04e59959b3f00fa4f2dd25675d21457a9bced8298a
+size 925696

actions/long_horizon_composite/LH02/session_011/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68864dfde67dc6050b758651c4f2b25c46eef907f4dd21a049d701730d54230b
+size 245760

actions/long_horizon_composite/LH02/session_011/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ef9830963e99a0aa19cedac888476b63664c328807511ed095832b59d3ff980
+size 245760

actions/long_horizon_composite/LH02/session_011/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:712bc8e5e010b370b154190a148fce209f6afd8d037b598c93577a6e5813d01c
+size 1029074

actions/long_horizon_composite/LH02/session_011/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c961e440901cac76db03d0626fb51ce80ea7cda9125c83d00221a7a2be32b773
+size 115885

actions/long_horizon_composite/LH02/session_011/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d53522f1a035af321077fcdb98d62e246d9a61aad064669b1e01094bd59ee7dd
+size 1074901

actions/long_horizon_composite/LH02/session_011/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2de92c8d6d69ab0b2d34a72dbc9df07bdf6f8aeaaada48e6dcdd6d0e2fcb083d
+size 212437

actions/long_horizon_composite/LH02/session_011/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed2f039f8e4c27b65894c0d03ccc778af430ccd8dbbb3cff23a3ddfe8dd9c1e6
+size 187451

actions/long_horizon_composite/LH02/session_011/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7163c017edce8b1d82bfb380a8c9e5dbb6eca771a139f6e07a74b95762ea9070
+size 46342898

actions/long_horizon_composite/LH02/session_011/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aefe386fbf4cac09f51ec4468c5d1509cf58387b6ba2e20207979919e366642f
+size 46981956

actions/long_horizon_composite/LH02/session_011/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f20d569b74605298fa732058d586afe3e1f0ef4871e92ecdb18df998c1aebbe2
+size 46703925

actions/long_horizon_composite/LH02/session_011/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20e2f14e76563e6d9be117571e06928b33c9cf85b6bb6be2a0a52560f8f93afd
+size 46380142

actions/long_horizon_composite/LH02/session_011/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d932762f09d054dfd88ab24699eecdae86eca527afe847283135314d94a1354
+size 47084326

actions/long_horizon_composite/LH02/session_011/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a094787a1fe35bd6827abb8cf89c85dce50e0dd350f9a647b9d1e28c0549a0cc
+size 46334933

actions/long_horizon_composite/LH02/session_011/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f067fc7b7d4b7db7ac252ced80ca7070eb0ceaaf7facb06c22dfe7e690a5dcf
+size 48540163

actions/long_horizon_composite/LH02/session_011/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8326221cb336f47465ebb870c3e5cba4819e439c3486692cff7c7dd83b3abb31
+size 42242883

actions/long_horizon_composite/LH02/session_011/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04265cb5997638881d5b0244bc50277c5598ab9ef82a639aabb4b7cedd32c985
+size 43545592

actions/long_horizon_composite/LH02/session_012/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2f567e0e7885a74d3d2b829d1e2224eb5206fb6b0219b06fcdc4d29b0db03c0
+size 783633

actions/long_horizon_composite/LH02/session_012/meta.json

@@ -0,0 +1,617 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261028/LH02/20261028_041053_session45",
+ "session_id": "20261028_041053_session45",
+ "primitive": "LH02",
+ "batch": "20261028",
+ "participant": "mahui",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e3296774a321bb51",
+  "left": "75b5984e04d1d236",
+  "right": "c84bc808cb6b47af"
+ },
+ "generated_at_utc": "2026-10-30T07:15:33.441669+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": 89.59166666666667,
+  "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": -0.087969,
+  "rate": 0.0,
+  "global_lag_s": -0.09,
+  "peak_corr": 0.974,
+  "reference_imu_first_sample_s": 12350.551081516,
+  "windows": {
+   "n_windows": 7,
+   "window_corr_median": 0.9982051919248258,
+   "drift_ppm": -1098.0739667712858,
+   "drift_se_ppm": 635.6604801663779,
+   "drift_ms_over_take": -98.36912618992768,
+   "lag_scatter_ms": 28.427600885243553,
+   "lag_range_ms": 102.8668462329787
+  }
+ },
+ "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": 18109,
+    "n_gyro": 18103,
+    "t_start": -0.09988413471303337,
+    "t_end": 89.77712662228866
+   },
+   "imu_head_left": {
+    "n_acc": 18026,
+    "n_gyro": 18021,
+    "t_start": 0.006550865288477703,
+    "t_end": 89.943958510287
+   },
+   "imu_wrist_right": {
+    "n_acc": 17977,
+    "n_gyro": 17976,
+    "t_start": -0.7383190247122225,
+    "t_end": 88.69728434928827
+   },
+   "imu_wrist_left": {
+    "n_acc": 18152,
+    "n_gyro": 18151,
+    "t_start": -0.8616878047117321,
+    "t_end": 88.6918491412877
+   },
+   "mag_head": {
+    "n": 9003,
+    "t_start": 0.08465919928737586,
+    "t_end": 90.1046532422885
+   },
+   "mag_wrist_right": {
+    "n": 8942,
+    "t_start": -0.7198369227128975,
+    "t_end": 88.6904556642882
+   },
+   "mag_wrist_left": {
+    "n": 8954,
+    "t_start": -0.8437213917125742,
+    "t_end": 88.68614816628785
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 12350.676299,
+    "frames": 2687,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0025546514432425653,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.03980296273100559,
+    "t_end": 89.57314696273049,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 12350.676282,
+    "frames": 2687,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002366886077403108,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.039598197365808496,
+    "t_end": 89.5729421973653,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 12350.676294,
+    "frames": 2687,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0026728712083183277,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.03991618249772311,
+    "t_end": 89.57326018249721,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 12350.676305,
+    "frames": 2687,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002595594493655556,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.039849905781625616,
+    "t_end": 89.57320590578153,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 12350.676288,
+    "frames": 2681,
+    "pts_gaps": 6,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002394386090989767,
+    "gap_test": {
+     "pts": {
+      "offset_ms": 0.4,
+      "corr": 0.887,
+      "err_ms": 2.0
+     },
+     "nominal": {
+      "offset_ms": 98.6,
+      "corr": 0.879,
+      "err_ms": 96.2
+     }
+    },
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.039631697378968433,
+    "t_end": 89.58962069737815,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 12350.676273,
+    "frames": 2687,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002315656053021164,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.03953796733974324,
+    "t_end": 89.57287096733914,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 12349.778694,
+    "frames": 2686,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_75b5984e04d1d236_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": -0.8603566887116582,
+    "t_end": 88.63951331128798,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 12349.89689,
+    "frames": 2683,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": -0.7421606887122149,
+    "t_end": 88.65809931128813,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-LH02-S03-mahui-01p1-1.mp4",
+    "frames": 2688,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 89.56666666666666
+   }
+  }
+ },
+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
+ "rig_tracker": {
+  "definition": "e3296774a321bb51/20261028-morning/labels-503412/session-db5ceedd38ce5cef",
+  "R_tracker0_imu0": [
+   [
+    -0.64797538,
+    0.2283013,
+    -0.72664051
+   ],
+   [
+    0.76166121,
+    0.19463957,
+    -0.61805148
+   ],
+   [
+    0.00033104,
+    -0.95393603,
+    -0.30000989
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   0.01868778801975714,
+   -0.0024966729367569187,
+   -0.009244326577898778
+  ],
+  "rig_check": {
+   "gyro_samples": 6304,
+   "gyro_max_deg": 2.5,
+   "status": "video_solve",
+   "dropped_marker": null,
+   "gyro_deg": 2.432,
+   "video_solve": {
+    "status": "ok",
+    "reason": "",
+    "reprojection_px": 3.12,
+    "n_assoc": 534,
+    "gyro_deg": 2.432
+   }
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-30T18:43:47.002929+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": [
+   [
+    0.9999999999,
+    -1.6484e-05,
+    1.4e-08
+   ],
+   [
+    -1.4e-08,
+    -0.0016934171,
+    -0.9999985662
+   ],
+   [
+    1.6484e-05,
+    0.999998566,
+    -0.0016934171
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.001,
+    -1.6484e-08,
+    1.4e-11,
+    0.0
+   ],
+   [
+    -1.4e-11,
+    -1.693417e-06,
+    -0.000999998566,
+    0.0
+   ],
+   [
+    1.6484e-08,
+    0.000999998566,
+    -1.693417e-06,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20261028-morning",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.09703029591991919,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 46.2,
+   "headtop_p95_mm": 1633.4
+  },
+  "gravity_check": {
+   "static_samples": 1178,
+   "g_world_mean_m_s2": [
+    0.3672,
+    0.0687,
+    9.7576
+   ],
+   "tilt_from_z_deg": 2.192,
+   "tilt_from_z_deg_before_levelling": 2.213,
+   "magnitude_m_s2": 9.7647
+  },
+  "rig_tracker_definition": "e3296774a321bb51/20261028-morning/labels-503412/session-db5ceedd38ce5cef",
+  "rig_check": {
+   "status": "video_solve",
+   "dropped_marker": null,
+   "gyro_deg": 2.432
+  },
+  "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": "2026-11-02T20:00:47.306817+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": [
+      0.05819319188594818,
+      0.016548827290534973,
+      0.027903344482183456
+     ],
+     "LHandOut": [
+      0.05987098067998886,
+      0.020486019551753998,
+      -0.012994106858968735
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.06602746993303299,
+      0.017138279974460602,
+      0.0006610221462324262
+     ],
+     "RHandOut": [
+      -0.053707096725702286,
+      -0.006436076946556568,
+      -0.0433441661298275
+     ],
+     "RWristOut": [
+      0.0039695254527032375,
+      0.002749251201748848,
+      -0.03210614621639252
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 6.96,
+   "p95_frame": 15.13
+  },
+  "worst_markers": [
+   "WaistRFront 23mm",
+   "RThigh 17mm",
+   "RKneeIn 17mm",
+   "WaistRSide 14mm",
+   "LKneeIn 14mm"
+  ],
+  "valid_fraction": 0.9993,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": -36.3,
+    "p5": -48.2
+   },
+   "frames_checked": 359,
+   "stature_mm": 1631.4
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 12.99
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 24.78,
+    "Q_rotvec": [
+     0.19169,
+     -0.34747,
+     0.17191
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 55.5,
+    "opposite_sign_bend_deg": 141.8,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 3.5,
+    "hand_vs_marker_frame_deg": {
+     "before": 25.18,
+     "after": 3.5
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 47.72,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -7.7,
+       10.3
+      ]
+     },
+     "wrist_total_deg_median_after": 27.4,
+     "markers_on_forearm": [
+      "LElbowIn",
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1075
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 26.7,
+    "Q_rotvec": [
+     -0.31238,
+     -0.03511,
+     -0.34399
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 34.2,
+    "opposite_sign_bend_deg": 162.5,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 4.98,
+    "hand_vs_marker_frame_deg": {
+     "before": 27.11,
+     "after": 4.98
+    },
+    "markers_on_wrist": [
+     "RWristOut",
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 10.84,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -13.5,
+       22.5
+      ]
+     },
+     "wrist_total_deg_median_after": 33.6,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn"
+     ]
+    },
+    "frames_used": 1038
+   },
+   "generated_at_utc": "2026-11-02T20:00:50.306610+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "marker_relabel": {
+  "generated_at_utc": "2026-11-02T19:41:03.230434+00:00",
+  "generated_by": "scripts/relabel_marker_swaps.py",
+  "margin_s": 0.75,
+  "sides": {
+   "left": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 2415,
+    "frames_flipped": 0,
+    "stretches": []
+   },
+   "right": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 2343,
+    "frames_flipped": 35,
+    "stretches": [
+     {
+      "t0": 40.65,
+      "t1": 42.23,
+      "dur_s": 1.58,
+      "marker_turn_deg": 160.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 145.6,
+      "err_swapped_deg": 7.6,
+      "calib_err_deg": 13.1,
+      "applied": true
+     }
+    ]
+   }
+  },
+  "applied": 1
+ },
+ "release": {
+  "release_path": "actions/long_horizon_composite/LH02/session_012",
+  "family": "long_horizon_composite",
+  "primitive": "LH02",
+  "source_session": "20261028/LH02/20261028_041053_session45"
+ },
+ "task": {
+  "primitive": "LH02",
+  "instruction": "1. Read the list the operator gives you. 2. Collect the six items on the list from the shelves. 3. Put them all in the bin on the table. 4. Tell the operator when you are finished."
+ },
+ "objects": [
+  {
+   "name": "BigBox2",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "LittleBox1",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "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": "LittleBox5",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "LittleBox6",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "Table",
+   "object_type": "Table",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
+}

actions/long_horizon_composite/LH02/session_012/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7ef44341e93b8354c7a8cc5bce4a88eb2f4752f50d6c03c45b2cab77c3f7be3
+size 805076

actions/long_horizon_composite/LH02/session_012/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a51389e6c9b143c0cbc2ca69c384f663236dd9acb2adcbf950fd7cc736b2116a
+size 6245460

actions/long_horizon_composite/LH02/session_012/motions/object_markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd954ba93967110ed831822ec6c1f0cee05882c77b328b608147259cf9b88bc5
+size 1914677

actions/long_horizon_composite/LH02/session_012/motions/objects.json

@@ -0,0 +1,187 @@
+{
+ "session": "20261028/LH02/20261028_041053_session45",
+ "generated_at_utc": "2026-11-04T20:07:14.232792+00:00",
+ "generated_by": "scripts/export_objects.py",
+ "frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)",
+ "grid": "body grid (smplx.npz t / frame_index)",
+ "held_by": "from mocap hands",
+ "instances": [
+  {
+   "name": "BigBox2",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 99.99,
+   "verified_pct": 99.99,
+   "moving_pct": 0.69,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox1",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 61.72,
+   "verified_pct": 61.71,
+   "moving_pct": 6.79,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox2",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox2",
+    "rms_mm": 0.57
+   },
+   "valid_pct": 17.98,
+   "verified_pct": 17.97,
+   "moving_pct": 9.46,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox3",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox3",
+    "rms_mm": 0.9
+   },
+   "valid_pct": 31.44,
+   "verified_pct": 31.42,
+   "moving_pct": 8.48,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox4",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox4",
+    "rms_mm": 0.51
+   },
+   "valid_pct": 87.64,
+   "verified_pct": 87.63,
+   "moving_pct": 9.43,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox5",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox5",
+    "rms_mm": 2.35
+   },
+   "valid_pct": 49.48,
+   "verified_pct": 49.47,
+   "moving_pct": 6.28,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox6",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox6",
+    "rms_mm": 1.66
+   },
+   "valid_pct": 73.2,
+   "verified_pct": 73.2,
+   "moving_pct": 8.37,
+   "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": [
+   "BigBox2",
+   "LittleBox1",
+   "LittleBox2",
+   "LittleBox3",
+   "LittleBox4",
+   "LittleBox5",
+   "LittleBox6",
+   "Table0"
+  ],
+  "listed": [
+   {
+    "name": "BigBox2",
+    "object": "BigBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LittleBox1",
+    "object": "LittleBox",
+    "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": "LittleBox5",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LittleBox6",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "Table",
+    "object": null,
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/long_horizon_composite/LH02/session_012/motions/objects.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2290b6cc97f7b789f76ac5a979e4f158c76326b74c930c49d281a96b855e7de6
+size 2162999

actions/long_horizon_composite/LH02/session_012/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:046a792d298b50be4a157b4ed8a26605dcf0bc6a4d980f33fc3c4a9ad515c7c7
+size 6273174

actions/long_horizon_composite/LH02/session_012/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91e9d5613c3697356fa2563a15b4ec6799881cd46bf2c5fb0d0596092aee4ba9
+size 4141020