Release update 2026-11-05: new sessions, instructions, annotations (part 336)

.gitattributes

@@ -45172,3 +45172,21 @@ actions/locomanipulation/LM34/session_031/raw/sensors/robowrist_imu_left.db filt
 actions/locomanipulation/LM34/session_031/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM34/session_031/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM34/session_031/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM34/session_032/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM34/session_032/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM34/session_032/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM34/session_032/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM34/session_032/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM34/session_032/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM34/session_032/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM34/session_032/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM34/session_032/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM34/session_033/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM34/session_033/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM34/session_033/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM34/session_033/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM34/session_033/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM34/session_033/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM34/session_033/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM34/session_033/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM34/session_033/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/locomanipulation/LM34/session_032/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:235d9c32de8c6ca11f597f8cd2f4b1841e8d1dc305a28b9c859fbdbe672403e3
+size 144042313

actions/locomanipulation/LM34/session_032/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bd76604245fb1abf09f8db102ec440d75e209b83feae85fec7370b1167571c0
+size 31872361

actions/locomanipulation/LM34/session_032/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f54f994fc9f2a75730f6916fc5a27d9e8fc57855120f9b4341844ddb2fb3c7c
+size 1495040

actions/locomanipulation/LM34/session_032/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14799813626507ba23252d919d5d697447eb15a651eebf012e4e081a3310ce20
+size 1445888

actions/locomanipulation/LM34/session_032/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0803b6ae663c8454bdb2ff85f09029be4679819f651da7a03c8614a4658b692
+size 385024

actions/locomanipulation/LM34/session_032/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce3872a34951fa775b45d1ee9aa7414cada0f97a33db4979e3b98e57c2165208
+size 1445888

actions/locomanipulation/LM34/session_032/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b11ae19768717c89820f15f8164f6f5ea327c4f5ada2044a617bd1f92dc73fa
+size 1449984

actions/locomanipulation/LM34/session_032/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aad9f03f285923805618fc698ea2ec60fa91c9dce37f9841ec2cc9ad24948764
+size 368640

actions/locomanipulation/LM34/session_032/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a078049d3c67707fc373a8952df2a2b6df457f42b5c107734b291599461768aa
+size 368640

actions/locomanipulation/LM34/session_032/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1907ed12fddd6abf6ef22465ef72e741b1ae4f023a163f17ea6ea4a3312917a5
+size 1484228

actions/locomanipulation/LM34/session_032/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d595816b7b0adbf5c6cb0c816cc3a84e107c71aaf292dde91a6ba707263edbb6
+size 174571

actions/locomanipulation/LM34/session_032/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c1a28a12e2b137000f7e7a8414116bdb5c611feeb0f749793478027a5d0617d
+size 1612965

actions/locomanipulation/LM34/session_032/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fa5a3954e20d0d6ed0b5a65b550809350365b06c820a3082651ad7b9ec186f8
+size 316877

actions/locomanipulation/LM34/session_032/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e18375f42076af82066b29b3931efbb4da5f62a205b08ed2b13a7ca7723692a
+size 287752

actions/locomanipulation/LM34/session_032/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7f06707c994f1f5922ba433fb553faf5062e70f052afa9857cf465fec4c1930
+size 72331180

actions/locomanipulation/LM34/session_032/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96d11283ad6cbc339a1d93d29b4b4517885be0de9053feec29c29ee4ea4e7424
+size 72107793

actions/locomanipulation/LM34/session_032/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f16212e1835537f0ba8bfe832157d86fcc72c43e9ba8eabf111745639114ec70
+size 72324809

actions/locomanipulation/LM34/session_032/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1d77c4352f91252c28ac60fa6a3ddcabbd1a599f16927fde93be8e07f984665
+size 72350743

actions/locomanipulation/LM34/session_032/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da05fae18f65c87af0a7ceb2fb2152fd5a0e178415566d13434472b9713dff65
+size 72267979

actions/locomanipulation/LM34/session_032/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c0691c52cd7d3ab3ad3c1cefd45bd94df871f0902e8300a6ba9ecd088f15685
+size 72310149

actions/locomanipulation/LM34/session_032/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7afeafa04ed045d8512d7c82cb2e18eedc555b6f932cc3e5e8d038b47d8638a4
+size 75089697

actions/locomanipulation/LM34/session_032/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc2dafec059c2ee190b2714cd429ccaddf859bb644da19f4e5895ac9d4cf1b3d
+size 63100765

actions/locomanipulation/LM34/session_032/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b02451e0dff1300b810cde0956bfbe7e248687fe9918c4ecef40bb715ee50b4
+size 59372371

actions/locomanipulation/LM34/session_033/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aacb472af1f5652c7ceaff71533e8a930feeba5514a13490f8f1366ff2f8bbb4
+size 1203149

actions/locomanipulation/LM34/session_033/meta.json

@@ -0,0 +1,596 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261028/LM34/20261028_100405_session109",
+ "session_id": "20261028_100405_session109",
+ "primitive": "LM34",
+ "batch": "20261028",
+ "participant": "xiaobo",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e3296774a321bb51",
+  "left": "39042f5fb5da3b12",
+  "right": "65a3481473d6e2a0"
+ },
+ "generated_at_utc": "2026-10-28T20:04:04.987627+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": 138.025,
+  "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": -0.087994,
+  "rate": 0.0,
+  "global_lag_s": -0.09,
+  "peak_corr": 0.9975,
+  "reference_imu_first_sample_s": 33542.306441259,
+  "windows": {
+   "n_windows": 12,
+   "window_corr_median": 0.9969544423509978,
+   "drift_ppm": 2.5930358311408246,
+   "drift_se_ppm": 3.0030879041588077,
+   "drift_ms_over_take": 0.3578821619612862,
+   "lag_scatter_ms": 0.3278275442585383,
+   "lag_range_ms": 1.1293227660852945
+  }
+ },
+ "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": 27870,
+    "n_gyro": 27863,
+    "t_start": -0.09986628762244983,
+    "t_end": 138.23242682238222
+   },
+   "imu_head_left": {
+    "n_acc": 27735,
+    "n_gyro": 27729,
+    "t_start": 0.01145704538093377,
+    "t_end": 138.4002625123833
+   },
+   "imu_wrist_right": {
+    "n_acc": 27895,
+    "n_gyro": 27907,
+    "t_start": -0.7855395406219996,
+    "t_end": 136.71770793337808
+   },
+   "imu_wrist_left": {
+    "n_acc": 27763,
+    "n_gyro": 27763,
+    "t_start": -0.8681418696212004,
+    "t_end": 136.7138696363766
+   },
+   "mag_head": {
+    "n": 13848,
+    "t_start": 0.09599633738279771,
+    "t_end": 138.56599173638122
+   },
+   "mag_wrist_right": {
+    "n": 13749,
+    "t_start": -0.768214354618709,
+    "t_end": 136.71154750038139
+   },
+   "mag_wrist_left": {
+    "n": 13757,
+    "t_start": -0.8514908016220089,
+    "t_end": 136.7088929563836
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 33542.43176,
+    "frames": 4140,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0025546514432425653,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.039879495823965036,
+    "t_end": 138.00672349582626,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 33542.431741,
+    "frames": 4140,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002366886077403108,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.039672730454452895,
+    "t_end": 138.00649473045658,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 33542.431753,
+    "frames": 4140,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0026728712083183277,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.039990715588186496,
+    "t_end": 138.00682371558676,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 33542.431766,
+    "frames": 4140,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002595594493655556,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.039926438876404055,
+    "t_end": 138.0067934388792,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 33542.431747,
+    "frames": 4139,
+    "pts_gaps": 1,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002394386090989767,
+    "gap_test": {
+     "pts": {
+      "offset_ms": 30.4,
+      "corr": 0.892,
+      "err_ms": 28.0
+     },
+     "nominal": {
+      "offset_ms": 80.4,
+      "corr": 0.892,
+      "err_ms": 78.0
+     }
+    },
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.03970623047670778,
+    "t_end": 138.02302823047674,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 33542.431732,
+    "frames": 4140,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002315656053021164,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.03961250043384461,
+    "t_end": 138.0064125004358,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 33541.523044,
+    "frames": 4127,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": -0.8713911556184994,
+    "t_end": 136.6623328443823,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 33541.649547,
+    "frames": 4123,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": -0.7448881556189972,
+    "t_end": 136.65485184438174,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-LM34-S02-xiaobo-01p2-1.mp4",
+    "frames": 4141,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 138.0
+   }
+  }
+ },
+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
+ "rig_tracker": {
+  "definition": "e3296774a321bb51/20261028-afternoon/labels-235140/session-3f404f7558a79722",
+  "R_tracker0_imu0": [
+   [
+    -0.67149515,
+    0.31455893,
+    -0.67092991
+   ],
+   [
+    0.74064297,
+    0.31336286,
+    -0.59434983
+   ],
+   [
+    0.02328647,
+    -0.89602254,
+    -0.4433975
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   -0.17425157692066714,
+   -0.001096611435587815,
+   -0.05076997223370037
+  ],
+  "rig_check": {
+   "gyro_samples": 5929,
+   "gyro_max_deg": 2.5,
+   "status": "video_solve",
+   "dropped_marker": null,
+   "gyro_deg": 0.988,
+   "video_solve": {
+    "status": "ok",
+    "reason": "",
+    "reprojection_px": 3.513,
+    "n_assoc": 225,
+    "gyro_deg": 0.988
+   }
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-30T18:46:15.592122+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": [
+   [
+    0.9999849425,
+    0.0054876377,
+    2.47109e-05
+   ],
+   [
+    -2.47109e-05,
+    0.0090057756,
+    -0.9999594469
+   ],
+   [
+    -0.0054876377,
+    0.9999443894,
+    0.0090057756
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.000999984942,
+    5.487638e-06,
+    2.4711e-08,
+    0.0
+   ],
+   [
+    -2.4711e-08,
+    9.005776e-06,
+    -0.000999959447,
+    0.0
+   ],
+   [
+    -5.487638e-06,
+    0.000999944389,
+    9.005776e-06,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20261028-afternoon",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.6042526163605274,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 41.3,
+   "headtop_p95_mm": 1705.2
+  },
+  "gravity_check": {
+   "static_samples": 839,
+   "g_world_mean_m_s2": [
+    0.1288,
+    0.0817,
+    9.7561
+   ],
+   "tilt_from_z_deg": 0.896,
+   "tilt_from_z_deg_before_levelling": 0.444,
+   "magnitude_m_s2": 9.7573
+  },
+  "rig_tracker_definition": "e3296774a321bb51/20261028-afternoon/labels-235140/session-3f404f7558a79722",
+  "rig_check": {
+   "status": "video_solve",
+   "dropped_marker": null,
+   "gyro_deg": 0.988
+  },
+  "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": "2026-11-02T15:49:57.852121+00:00",
+  "generated_by": "scripts/fit_smplx_dataset.py",
+  "file": "smplx.npz",
+  "gender": "male",
+  "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": [
+      0.05501732975244522,
+      0.003691768506541848,
+      -0.028718937188386917
+     ],
+     "LHandOut": [
+      0.05931919068098068,
+      -0.0173747967928648,
+      0.002746419282630086
+     ],
+     "LWristIn": [
+      -0.010277323424816132,
+      0.0032415224704891443,
+      -0.019874848425388336
+     ],
+     "LWristOut": [
+      -0.024847712367773056,
+      -0.029605180025100708,
+      0.008838815614581108
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.03739036247134209,
+      0.014040777459740639,
+      0.028912615031003952
+     ],
+     "RHandOut": [
+      -0.013263625092804432,
+      0.05208657309412956,
+      0.006821798160672188
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 6.73,
+   "p95_frame": 10.34
+  },
+  "worst_markers": [
+   "LElbowIn 26mm",
+   "LElbow 19mm",
+   "LForearm 11mm",
+   "LWristOut 11mm",
+   "LUArmHigh 10mm"
+  ],
+  "valid_fraction": 1.0,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 7.1,
+    "p5": -1.0
+   },
+   "frames_checked": 553,
+   "stature_mm": 1700.1
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 14.71
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 142.69,
+    "Q_rotvec": [
+     -2.44347,
+     -0.08939,
+     0.47302
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 119.9,
+    "opposite_sign_bend_deg": 61.7,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 6.69,
+    "hand_vs_marker_frame_deg": {
+     "before": 140.14,
+     "after": 6.69
+    },
+    "markers_on_wrist": [
+     "LWristIn",
+     "LWristOut",
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 112.78,
+     "wrist_twist_deg_after": {
+      "median": 18.16,
+      "iqr": [
+       7.3,
+       130.0
+      ]
+     },
+     "wrist_total_deg_median_after": 43.0,
+     "markers_on_forearm": [
+      "LForearm"
+     ]
+    },
+    "frames_used": 1482
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 72.68,
+    "Q_rotvec": [
+     1.2158,
+     -0.10393,
+     -0.34653
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 78.3,
+    "opposite_sign_bend_deg": 118.0,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 3.09,
+    "hand_vs_marker_frame_deg": {
+     "before": 72.78,
+     "after": 3.09
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -72.8,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -2.7,
+       2.8
+      ]
+     },
+     "wrist_total_deg_median_after": 30.2,
+     "markers_on_forearm": [
+      "RElbow",
+      "RElbowIn",
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-11-02T15:50:01.242942+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "marker_relabel": {
+  "generated_at_utc": "2026-10-29T08:53:01.332825+00:00",
+  "generated_by": "scripts/relabel_marker_swaps.py",
+  "margin_s": 0.75,
+  "sides": {
+   "left": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 3218,
+    "frames_flipped": 108,
+    "stretches": [
+     {
+      "t0": 111.37,
+      "t1": 129.85,
+      "dur_s": 18.48,
+      "marker_turn_deg": 16.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 114.0,
+      "err_swapped_deg": 7.7,
+      "calib_err_deg": 9.4,
+      "applied": true
+     },
+     {
+      "t0": 135.12,
+      "t1": 137.18,
+      "dur_s": 2.07,
+      "marker_turn_deg": 150.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 161.4,
+      "err_swapped_deg": 99.5,
+      "calib_err_deg": 9.4,
+      "applied": false
+     }
+    ]
+   },
+   "right": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 4009,
+    "frames_flipped": 46,
+    "stretches": [
+     {
+      "t0": 135.27,
+      "t1": 137.18,
+      "dur_s": 1.92,
+      "marker_turn_deg": 80.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 144.6,
+      "err_swapped_deg": 136.6,
+      "calib_err_deg": 10.0,
+      "applied": false
+     }
+    ]
+   }
+  },
+  "applied": 1
+ },
+ "release": {
+  "release_path": "actions/locomanipulation/LM34/session_033",
+  "family": "locomanipulation",
+  "primitive": "LM34",
+  "source_session": "20261028/LM34/20261028_100405_session109"
+ },
+ "task": {
+  "primitive": "LM34",
+  "instruction": "Carry the object in one hand and, while walking, pass it to your other hand. Keep passing it back and forth as you walk."
+ }
+}

actions/locomanipulation/LM34/session_033/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2281eefe4e8cf930d7852fb796615149670c11214d23364d40578feab83f8977
+size 1235719

actions/locomanipulation/LM34/session_033/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43aa211dce10ba3c19474d902d34782c9bfdadc399f7f0a7d83b2586044e8394
+size 9586652

actions/locomanipulation/LM34/session_033/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c80227d1c2f0cad4105f12353a35f1b61382b8d6a3110e4d52282e972d58a1c
+size 9614002

actions/locomanipulation/LM34/session_033/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3625b069a68f86543834097a4742961b7469ae895e3e91d656466b191a92b44b
+size 6368880

actions/locomanipulation/LM34/session_033/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93a1266c85987808532a22b1ad485b2f208ff88cb4b15e1e556c03a8eaf622ce
+size 26588238

actions/locomanipulation/LM34/session_033/raw/manifest.json

@@ -0,0 +1,263 @@
+{
+  "schema_version": 1,
+  "created_at_utc": "2026-10-28T13:01:49.353759+00:00",
+  "primitive_id": "LM34",
+  "session_id": "20261028_100405_session109",
+  "upload_batch_id": "20261028",
+  "dataset_path": "EgoMotionActions/20261028/LM34/20261028_100405_session109",
+  "segment": "auto/all",
+  "duration_s": 137.966844,
+  "device_ids": {
+    "main": "e3296774a321bb51",
+    "left": "39042f5fb5da3b12",
+    "right": "65a3481473d6e2a0"
+  },
+  "mocap_rigid_names": [
+    "Body0",
+    "Tracker0"
+  ],
+  "objects": [],
+  "options": {
+    "raw_video": true,
+    "proxy_height": 540,
+    "proxy_crf": 28,
+    "proxy_bitrate": "1400k",
+    "mocap_selection": "explicit",
+    "mocap_files": [
+      "mocap-LM34-S02-xiaobo-01p2/mocap-LM34-S02-xiaobo-01p2-1.mp4",
+      "mocap-LM34-S02-xiaobo-01p2/mocap-LM34-S02-xiaobo-01p2-Body0.bvh",
+      "mocap-LM34-S02-xiaobo-01p2/mocap-LM34-S02-xiaobo-01p2-Body0.csv",
+      "mocap-LM34-S02-xiaobo-01p2/mocap-LM34-S02-xiaobo-01p2-Body0.trc",
+      "mocap-LM34-S02-xiaobo-01p2/mocap-LM34-S02-xiaobo-01p2-Tracker0.csv",
+      "mocap-LM34-S02-xiaobo-01p2/mocap-LM34-S02-xiaobo-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": 26588238,
+      "packaged_bytes": 26588238,
+      "compressed_video": false,
+      "sha256": "93a1266c85987808532a22b1ad485b2f208ff88cb4b15e1e556c03a8eaf622ce"
+    },
+    {
+      "source": "mocap-LM34-S02-xiaobo-01p2/mocap-LM34-S02-xiaobo-01p2-1.mp4",
+      "packaged_as": "mocap/mocap-LM34-S02-xiaobo-01p2-1.mp4",
+      "kind": "video_raw",
+      "original_bytes": 73292258,
+      "packaged_bytes": 73292258,
+      "compressed_video": false,
+      "sha256": "a2ff3451713abb356d5e555833bbbbbd4f8cd2322285e8476e73208ffbd9f69e"
+    },
+    {
+      "source": "mocap-LM34-S02-xiaobo-01p2/mocap-LM34-S02-xiaobo-01p2-Body0.bvh",
+      "packaged_as": "mocap/mocap-LM34-S02-xiaobo-01p2-Body0.bvh",
+      "kind": "data",
+      "original_bytes": 9928562,
+      "packaged_bytes": 9928562,
+      "compressed_video": false,
+      "sha256": "659913d3081f53a79255f04deb1fd971ae13879eed81559da52a95abed7bd03c"
+    },
+    {
+      "source": "mocap-LM34-S02-xiaobo-01p2/mocap-LM34-S02-xiaobo-01p2-Body0.csv",
+      "packaged_as": "mocap/mocap-LM34-S02-xiaobo-01p2-Body0.csv",
+      "kind": "data",
+      "original_bytes": 138268529,
+      "packaged_bytes": 138268529,
+      "compressed_video": false,
+      "sha256": "9fef3e54353f458c02ff50cb1536c64f9481dc209fa9de194bf50c3d3f582adc"
+    },
+    {
+      "source": "mocap-LM34-S02-xiaobo-01p2/mocap-LM34-S02-xiaobo-01p2-Body0.trc",
+      "packaged_as": "mocap/mocap-LM34-S02-xiaobo-01p2-Body0.trc",
+      "kind": "data",
+      "original_bytes": 30562821,
+      "packaged_bytes": 30562821,
+      "compressed_video": false,
+      "sha256": "1f4467f73a0b7de127fce9b149bb4feca894a57cc88268df02ce279f4c5ee022"
+    },
+    {
+      "source": "mocap-LM34-S02-xiaobo-01p2/mocap-LM34-S02-xiaobo-01p2-Tracker0.csv",
+      "packaged_as": "mocap/mocap-LM34-S02-xiaobo-01p2-Tracker0.csv",
+      "kind": "data",
+      "original_bytes": 5240120,
+      "packaged_bytes": 5240120,
+      "compressed_video": false,
+      "sha256": "009cca974e4f02fb1b7250f5e60245b3dfd66e76e13d6072c47f1adc1f248da8"
+    },
+    {
+      "source": "mocap-LM34-S02-xiaobo-01p2/mocap-LM34-S02-xiaobo-01p2-Tracker0.trc",
+      "packaged_as": "mocap/mocap-LM34-S02-xiaobo-01p2-Tracker0.trc",
+      "kind": "data",
+      "original_bytes": 5066114,
+      "packaged_bytes": 5066114,
+      "compressed_video": false,
+      "sha256": "90813fbbdbb4cc0f81f671b18bac0b62fdf31bde7b11e85832705b0332739380"
+    },
+    {
+      "source": "robocap_segment1_imu_left.db",
+      "packaged_as": "robocap_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1433600,
+      "packaged_bytes": 1433600,
+      "compressed_video": false,
+      "sha256": "c24784a4f065d4be3bb96de02fffd205c618b949dd2f50189d7d213bfb161c95"
+    },
+    {
+      "source": "robocap_segment1_imu_right.db",
+      "packaged_as": "robocap_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1384448,
+      "packaged_bytes": 1384448,
+      "compressed_video": false,
+      "sha256": "48e5bcc5717d879603255e35253860df3faa5fbd68295e150b7431725ac30098"
+    },
+    {
+      "source": "robocap_segment1_mag_middle.db",
+      "packaged_as": "robocap_segment1_mag_middle.db",
+      "kind": "data",
+      "original_bytes": 368640,
+      "packaged_bytes": 368640,
+      "compressed_video": false,
+      "sha256": "5a9bffd14671ff8140c1b3088f7676c7491268e04259d52e5fdb9aec090e5b90"
+    },
+    {
+      "source": "robocap_segment1_video_left.mp4",
+      "packaged_as": "robocap_segment1_video_left.mp4",
+      "kind": "video_raw",
+      "original_bytes": 69109688,
+      "packaged_bytes": 69109688,
+      "compressed_video": false,
+      "sha256": "bca237930b53f72ac5b56cccfad3c5caad8161dac8d1861d3aa5511b03fc0719"
+    },
+    {
+      "source": "robocap_segment1_video_left_eye.mp4",
+      "packaged_as": "robocap_segment1_video_left_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 69126528,
+      "packaged_bytes": 69126528,
+      "compressed_video": false,
+      "sha256": "73a06e2f9cc772685ddff2dd1f03cc607396f50f6809f98cc2c30c29315168db"
+    },
+    {
+      "source": "robocap_segment1_video_left_front.mp4",
+      "packaged_as": "robocap_segment1_video_left_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 69103043,
+      "packaged_bytes": 69103043,
+      "compressed_video": false,
+      "sha256": "b460b1bd51c1810fe2dff95b7a23794a7f77eae285d3d8dad1bbf788db22e4d6"
+    },
+    {
+      "source": "robocap_segment1_video_right.mp4",
+      "packaged_as": "robocap_segment1_video_right.mp4",
+      "kind": "video_raw",
+      "original_bytes": 69115103,
+      "packaged_bytes": 69115103,
+      "compressed_video": false,
+      "sha256": "eeaeaade9add8bd998f053e268c85fd1489decc842cf87c514b91288c8f9efc5"
+    },
+    {
+      "source": "robocap_segment1_video_right_eye.mp4",
+      "packaged_as": "robocap_segment1_video_right_eye.mp4",
+      "kind": "video_raw",
+      "original_bytes": 69056865,
+      "packaged_bytes": 69056865,
+      "compressed_video": false,
+      "sha256": "7b7ea6c083bfe032c03ef3296ad7791d95319428dbea9bbe0a3ffc03117ad921"
+    },
+    {
+      "source": "robocap_segment1_video_right_front.mp4",
+      "packaged_as": "robocap_segment1_video_right_front.mp4",
+      "kind": "video_raw",
+      "original_bytes": 69136197,
+      "packaged_bytes": 69136197,
+      "compressed_video": false,
+      "sha256": "92782f4a7383392d4f8664bae64e6c9d89e47970165654d0fe008f8c0274b065"
+    },
+    {
+      "source": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_imu_left.db",
+      "packaged_as": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_imu_left.db",
+      "kind": "data",
+      "original_bytes": 1388544,
+      "packaged_bytes": 1388544,
+      "compressed_video": false,
+      "sha256": "be364f3025a1549531fb88277ed72bb64bf566fc68537d649a1bb09749da651d"
+    },
+    {
+      "source": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_mag_left.db",
+      "packaged_as": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_mag_left.db",
+      "kind": "data",
+      "original_bytes": 352256,
+      "packaged_bytes": 352256,
+      "compressed_video": false,
+      "sha256": "59cf4a0e429943f2571f67081255a762d767b0c5939b8035f91de7f1bf1bc622"
+    },
+    {
+      "source": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4",
+      "packaged_as": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4",
+      "kind": "video_raw",
+      "original_bytes": 62686490,
+      "packaged_bytes": 62686490,
+      "compressed_video": false,
+      "sha256": "0def4419512cf11dda2e74ececad0626fc7396d3929a52ef5e7dbbe162eb3458"
+    },
+    {
+      "source": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_imu_right.db",
+      "packaged_as": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_imu_right.db",
+      "kind": "data",
+      "original_bytes": 1388544,
+      "packaged_bytes": 1388544,
+      "compressed_video": false,
+      "sha256": "c3b4717750c3f1a79770bb232a689c9b1c57be0ab8874b3663fb13b04112698f"
+    },
+    {
+      "source": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_mag_right.db",
+      "packaged_as": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_mag_right.db",
+      "kind": "data",
+      "original_bytes": 352256,
+      "packaged_bytes": 352256,
+      "compressed_video": false,
+      "sha256": "17c82ba4cc098970bb84ac2953d2987cc1129551a3c3ab1484662b071f99ab51"
+    },
+    {
+      "source": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4",
+      "packaged_as": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4",
+      "kind": "video_raw",
+      "original_bytes": 59054031,
+      "packaged_bytes": 59054031,
+      "compressed_video": false,
+      "sha256": "cb6a612c6ed9f115030f989a782949eb9ee1f22a904966d161430c2b0a6d73ca"
+    },
+    {
+      "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
+      "packaged_as": "timestamp_anomaly_detail_table.html",
+      "kind": "inspection_html",
+      "original_bytes": 686677,
+      "packaged_bytes": 686629,
+      "compressed_video": false,
+      "sha256": "77ed8ff858bcce8fa4b0144aaf41a50badc47b3bb41e95f57f818752042c38d8"
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-LM34-S02-xiaobo-01p2",
+    "action_id": "LM34",
+    "collection_session_index": 2,
+    "participant": "xiaobo",
+    "repetition_count": 1
+  },
+  "upload_batch_created_at": "2026-10-28T21:33:42.975733+08:00",
+  "participant_gender": "male",
+  "participant_height_cm": 170,
+  "participant_weight_kg": 55,
+  "collection_site": {
+    "id": "site_00",
+    "assignment_method": "env",
+    "catalog": "collection_sites.json"
+  }
+}

actions/locomanipulation/LM34/session_033/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fef3e54353f458c02ff50cb1536c64f9481dc209fa9de194bf50c3d3f582adc
+size 138268529

actions/locomanipulation/LM34/session_033/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f4467f73a0b7de127fce9b149bb4feca894a57cc88268df02ce279f4c5ee022
+size 30562821

actions/locomanipulation/LM34/session_033/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c24784a4f065d4be3bb96de02fffd205c618b949dd2f50189d7d213bfb161c95
+size 1433600

actions/locomanipulation/LM34/session_033/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48e5bcc5717d879603255e35253860df3faa5fbd68295e150b7431725ac30098
+size 1384448

actions/locomanipulation/LM34/session_033/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a9bffd14671ff8140c1b3088f7676c7491268e04259d52e5fdb9aec090e5b90
+size 368640

actions/locomanipulation/LM34/session_033/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be364f3025a1549531fb88277ed72bb64bf566fc68537d649a1bb09749da651d
+size 1388544

actions/locomanipulation/LM34/session_033/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3b4717750c3f1a79770bb232a689c9b1c57be0ab8874b3663fb13b04112698f
+size 1388544

actions/locomanipulation/LM34/session_033/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59cf4a0e429943f2571f67081255a762d767b0c5939b8035f91de7f1bf1bc622
+size 352256

actions/locomanipulation/LM34/session_033/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17c82ba4cc098970bb84ac2953d2987cc1129551a3c3ab1484662b071f99ab51
+size 352256

actions/locomanipulation/LM34/session_033/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98659580a1f405fa3ab1096835f2c7b54d07019e535d166aed1351f9406301b1
+size 1453871

actions/locomanipulation/LM34/session_033/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5693fb4626b08520efbb6c2b00a64ee9115e2434ef7fe2d13eb10ff1d6c44de1
+size 168617

actions/locomanipulation/LM34/session_033/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7f7792b06325dc733586faa8a0f5741d3808f4fcc1042a9f62a9b939f637c46
+size 1528595

actions/locomanipulation/LM34/session_033/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83c00a68e7024bbba388501a5ab63c7587a58500bb2059bac383cd4c91219aa2
+size 303681