Release update 2026-11-05: 5760 sessions, instructions, annotations (part 321)

.gitattributes

@@ -44031,3 +44031,14 @@ actions/locomanipulation/LM09/session_016/raw/sensors/robowrist_imu_left.db filt
 actions/locomanipulation/LM09/session_016/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM09/session_016/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM09/session_016/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM09/session_017/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM09/session_017/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM09/session_017/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM09/session_017/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM09/session_017/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM09/session_017/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM09/session_017/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM09/session_017/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM09/session_017/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM09/session_018/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM09/session_018/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text

actions/locomanipulation/LM09/session_017/raw/mocap/Body0.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eee2cb45e3a1bd6187b9e162d5bf73f4ea8264810a8a1fd63ffb90e53fef81ea
+size 117906646

actions/locomanipulation/LM09/session_017/raw/mocap/Body0.trc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47493e40628cc9af0bb3886b87ab458ec21ea96efeb896dddc3354c73b2266a0
+size 25637571

actions/locomanipulation/LM09/session_017/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16ec2b10028078251de7efd03cc840b77c3e372101f30cf818b23a6e3bfb95f8
+size 1232896

actions/locomanipulation/LM09/session_017/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3936c00fa471178b3adb2eb5e0b13f9c01e187b3859884aaa5cbc1d032b08ff
+size 1187840

actions/locomanipulation/LM09/session_017/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7861880d8a8746eacdc1dc8b7228150b46c9ba0a194adaa24f34a0ea8131ae14
+size 323584

actions/locomanipulation/LM09/session_017/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c2515e3fbef94225a29f926a21f0004efdb336a5b255868f171bd6820163054
+size 1196032

actions/locomanipulation/LM09/session_017/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:546d90f4d88c8d511448a373ff9dfc11c59cd0871a6db92c1d055f27595ac831
+size 1196032

actions/locomanipulation/LM09/session_017/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:834329ff39db2d196985f87b63be833d975d65443452db1161bcaf665f792a7d
+size 307200

actions/locomanipulation/LM09/session_017/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5215df95703414e5ae931f94abbd9e791b14930da1fb43d3e99d7843f78a78a2
+size 311296

actions/locomanipulation/LM09/session_017/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b06fccea125ba7f9b555ac29c326e2d36d404ed21e39da4b4a90a77d984833f
+size 1210554

actions/locomanipulation/LM09/session_017/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d5248ae8aad6c26a8a14141d0960860edbee3525572e97d4ffbcf513eb43885
+size 145308

actions/locomanipulation/LM09/session_017/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58e23dcdafd56a44ea824c0804237392082f83082f078dd392030ec3858773cc
+size 1289208

actions/locomanipulation/LM09/session_017/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:569a05e58a0dbc4b39cdc61b0e4477d197d7209e90f56a769f1a35f1f0ceb91c
+size 250257

actions/locomanipulation/LM09/session_017/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9406f924e15df0efd89f12f419b42882dff00a17e6167c48243ed51ba0bed53c
+size 238049

actions/locomanipulation/LM09/session_017/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:743ae2640a44798d0fd5b96a045c965f6931af04aa4b8cb30f21755518d38d96
+size 59808642

actions/locomanipulation/LM09/session_017/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf01735b89571cd21d7079c118834815378dd319cf9ca592b1c95c8411e6cff5
+size 59766484

actions/locomanipulation/LM09/session_017/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f45177d4d574cc521eec94d62df129201285fe43c8a1ae7ec90cd034633c7991
+size 59765980

actions/locomanipulation/LM09/session_017/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dea23645b1086b9731ed50f090427215c40ad4945228f0cb701f4abffdac100c
+size 59790013

actions/locomanipulation/LM09/session_017/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a5dbfd013e3cdda287a23a2e93ead0f5ccaf852ea2f940fce7330f4dcd56da6
+size 59784381

actions/locomanipulation/LM09/session_017/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:248a1eac48b02eed97f5d7491a9dec9f730d496c28421e3d60036a686fd6661a
+size 59809025

actions/locomanipulation/LM09/session_017/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f96d1d622c2fc93cd6bbd64bf847607ea4c7e3081a0a0737afd9071e3745c2a3
+size 42508406

actions/locomanipulation/LM09/session_017/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f702af6d0acd7637efd72bf11805b0b99f6ae885f7f0b678b41b5679712f980
+size 37420812

actions/locomanipulation/LM09/session_017/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b623efd8d5be68f866b89da3457f84f2eba3f79f59dc296d65c296a5150fa259
+size 43044250

actions/locomanipulation/LM09/session_018/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:788cc35f4cdbf9944b803d5304937e0cbffb02c08260d958853b2f834a0484e0
+size 1179603

actions/locomanipulation/LM09/session_018/meta.json

@@ -0,0 +1,569 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261028/LM09/20261028_090951_session111",
+ "session_id": "20261028_090951_session111",
+ "primitive": "LM09",
+ "batch": "20261028",
+ "participant": "yanyitong",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "c9205ac6e17d2d5c",
+  "left": "452031d7af00ef6f",
+  "right": "60a6f081bbe60b0d"
+ },
+ "generated_at_utc": "2026-10-30T07:22:19.591285+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": 135.95833333333334,
+  "mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
+ },
+ "alignment": {
+  "reference_imu": "imu_head_right",
+  "model": "offset (median of windows)",
+  "mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
+  "offset_s": -0.085365,
+  "rate": 0.0,
+  "global_lag_s": -0.085,
+  "peak_corr": 0.9105,
+  "reference_imu_first_sample_s": 26792.886373992,
+  "windows": {
+   "n_windows": 12,
+   "window_corr_median": 0.9138865631082573,
+   "drift_ppm": 28.869740250934505,
+   "drift_se_ppm": 29.17730387660206,
+   "drift_ms_over_take": 3.9248411871145454,
+   "lag_scatter_ms": 3.1850962020476925,
+   "lag_range_ms": 10.09783528851621
+  }
+ },
+ "units": {
+  "mocap": "millimetres, Nokov world, Y-up (unchanged)",
+  "y_up_to_z_up": [
+   [
+    1.0,
+    0.0,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   [
+    0.0,
+    1.0,
+    0.0
+   ]
+  ],
+  "acc": "m/s^2 (8192 LSB/g)",
+  "gyro": "rad/s (65.536 LSB/dps)",
+  "mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
+  "quaternions": "xyzw, Nokov global"
+ },
+ "calibration": {
+  "device": "c9205ac6e17d2d5c",
+  "status": "ok",
+  "date": "2026-10-21"
+ },
+ "streams": {
+  "sensors": {
+   "imu_head_right": {
+    "n_acc": 27658,
+    "n_gyro": 27653,
+    "t_start": -0.09683673989546691,
+    "t_end": 136.14405020210415
+   },
+   "imu_head_left": {
+    "n_acc": 27486,
+    "n_gyro": 27481,
+    "t_start": 0.015154820103829528,
+    "t_end": 136.30446621710598
+   },
+   "imu_wrist_right": {
+    "n_acc": 27429,
+    "n_gyro": 27440,
+    "t_start": -0.8945041238939538,
+    "t_end": 134.66829860710368
+   },
+   "imu_wrist_left": {
+    "n_acc": 27448,
+    "n_gyro": 27462,
+    "t_start": -0.8971696578946521,
+    "t_end": 134.67348208310523
+   },
+   "mag_head": {
+    "n": 13638,
+    "t_start": 0.09873713610524106,
+    "t_end": 136.46873411710567
+   },
+   "mag_wrist_right": {
+    "n": 13555,
+    "t_start": -0.876824823894809,
+    "t_end": 134.66286750510426
+   },
+   "mag_wrist_left": {
+    "n": 13556,
+    "t_start": -0.8792394468937218,
+    "t_end": 134.6704719971067
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 26793.007843,
+    "frames": 4078,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0026284356473863946,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.0387326717509623,
+    "t_end": 135.93877667175275,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 26793.007825,
+    "frames": 4078,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0024181146161434135,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.03850435072037185,
+    "t_end": 135.938526350722,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 26793.007838,
+    "frames": 4078,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002458947067077895,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.03855818317334893,
+    "t_end": 135.93859118317505,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 26793.007849,
+    "frames": 4078,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0021420814739499558,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.0382523175803854,
+    "t_end": 135.93830831757896,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 60.0,
+    "start_device_s": 26793.007832,
+    "frames": 4042,
+    "pts_gaps": 4041,
+    "timing": "pts (gap undecided)",
+    "timeshift_cam_imu_s": 0.002801984596191448,
+    "gap_test": {
+     "pts": {
+      "offset_ms": -7.1,
+      "corr": 0.871,
+      "err_ms": 9.9
+     },
+     "nominal": {
+      "offset_ms": -143.0,
+      "corr": 0.1,
+      "err_ms": 145.8
+     }
+    },
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.03889522070040953,
+    "t_end": 135.95555122070164,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 26793.007817,
+    "frames": 4078,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002930366888236734,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.03900860299564925,
+    "t_end": 135.93901960299718,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 26792.077784,
+    "frames": 4067,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": -0.8939547638938038,
+    "t_end": 134.6390532361047,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 26792.143989,
+    "frames": 4064,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": -0.8277497638946315,
+    "t_end": 134.60525823610533,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-LM09-S03-yanyitong-01p1-1.mp4",
+    "frames": 4079,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 135.93333333333334
+   }
+  }
+ },
+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
+ "rig_tracker": {
+  "definition": "c9205ac6e17d2d5c/20261028-afternoon/labels-235140/session-b51c3b11c0ef4e11",
+  "R_tracker0_imu0": [
+   [
+    -0.67276383,
+    0.01229418,
+    -0.73975515
+   ],
+   [
+    0.73347693,
+    0.14211142,
+    -0.66469237
+   ],
+   [
+    0.09695581,
+    -0.98977432,
+    -0.10462492
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   -0.18182412497622746,
+   -0.013738795033209331,
+   0.004932958828116846
+  ],
+  "rig_check": {
+   "gyro_samples": 874,
+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 1.982
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-30T18:45:16.802677+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": 29.0,
+   "headtop_p95_mm": 1615.5
+  },
+  "gravity_check": {
+   "static_samples": 9014,
+   "g_world_mean_m_s2": [
+    0.0249,
+    0.2889,
+    9.7996
+   ],
+   "tilt_from_z_deg": 1.695,
+   "tilt_from_z_deg_before_levelling": 1.185,
+   "magnitude_m_s2": 9.8039
+  },
+  "rig_tracker_definition": "c9205ac6e17d2d5c/20261028-afternoon/labels-235140/session-b51c3b11c0ef4e11",
+  "rig_check": {
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 1.982
+  },
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-11-02T15:28:01.828402+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": [
+      0.0603790245950222,
+      -0.029730383306741714,
+      0.012141608633100986
+     ],
+     "LHandOut": [
+      0.05764659866690636,
+      0.016693109646439552,
+      0.028096511960029602
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.07633848488330841,
+      0.017125749960541725,
+      0.01404873188585043
+     ],
+     "RHandOut": [
+      -0.06480040401220322,
+      5.7087705499725416e-05,
+      -0.025985801592469215
+     ],
+     "RWristOut": [
+      0.0031356157269328833,
+      0.0028968905098736286,
+      -0.03333249315619469
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 6.78,
+   "p95_frame": 15.77
+  },
+  "worst_markers": [
+   "STRN 24mm",
+   "CLAV 19mm",
+   "RShin 17mm",
+   "RKneeIn 17mm",
+   "RElbowIn 15mm"
+  ],
+  "valid_fraction": 0.999,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 11.9,
+    "p5": 7.6
+   },
+   "frames_checked": 544,
+   "stature_mm": 1600.3
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 14.78
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 116.68,
+    "Q_rotvec": [
+     1.99763,
+     -0.38787,
+     -0.07927
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 94.1,
+    "opposite_sign_bend_deg": 111.2,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 3.57,
+    "hand_vs_marker_frame_deg": {
+     "before": 116.61,
+     "after": 3.57
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 85.81,
+     "wrist_twist_deg_after": {
+      "median": 0.22,
+      "iqr": [
+       -10.7,
+       7.8
+      ]
+     },
+     "wrist_total_deg_median_after": 34.9,
+     "markers_on_forearm": [
+      "LElbowIn",
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 17.17,
+    "Q_rotvec": [
+     -0.2614,
+     0.00562,
+     -0.14631
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 42.2,
+    "opposite_sign_bend_deg": 142.0,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 4.2,
+    "hand_vs_marker_frame_deg": {
+     "before": 16.66,
+     "after": 4.2
+    },
+    "markers_on_wrist": [
+     "RWristOut",
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 33.37,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -3.4,
+       12.9
+      ]
+     },
+     "wrist_total_deg_median_after": 24.0,
+     "markers_on_forearm": [
+      "RElbow",
+      "RForearm",
+      "RWristIn"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-11-02T15:28:04.962620+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/locomanipulation/LM09/session_018",
+  "family": "locomanipulation",
+  "primitive": "LM09",
+  "source_session": "20261028/LM09/20261028_090951_session111"
+ },
+ "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": "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": "Table",
+   "object_type": "Table",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "Table2",
+   "object_type": "Table",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
+}

actions/locomanipulation/LM09/session_018/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3262962e881a484e2ef543084f61078b70786f05ed47cd2f3d9856a44923a48
+size 1195455

actions/locomanipulation/LM09/session_018/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3425f6bd7ad06b6e1fa0d3f493b86af7deda9f9f42c972ec2f421f6642496b89
+size 9493169

actions/locomanipulation/LM09/session_018/motions/object_markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bbd3f6d1344ba6a726b72b0479f787786e5f7baa3a0a805b550eda3a1370b45
+size 1606640

actions/locomanipulation/LM09/session_018/motions/objects.json

@@ -0,0 +1,165 @@
+{
+ "session": "20261028/LM09/20261028_090951_session111",
+ "generated_at_utc": "2026-11-04T20:12:27.666128+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": "LittleBox1",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 87.31,
+   "verified_pct": 87.28,
+   "moving_pct": 4.95,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox2",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox2",
+    "rms_mm": 1.09
+   },
+   "valid_pct": 4.19,
+   "verified_pct": 4.16,
+   "moving_pct": 3.65,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox3",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox3",
+    "rms_mm": 0.54
+   },
+   "valid_pct": 4.84,
+   "verified_pct": 4.81,
+   "moving_pct": 4.63,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox4",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox4",
+    "rms_mm": 0.29
+   },
+   "valid_pct": 4.93,
+   "verified_pct": 4.9,
+   "moving_pct": 4.51,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox5",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox5",
+    "rms_mm": 2.48
+   },
+   "valid_pct": 25.06,
+   "verified_pct": 25.05,
+   "moving_pct": 3.17,
+   "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
+  },
+  {
+   "name": "Table2",
+   "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": [
+   "LittleBox1",
+   "LittleBox2",
+   "LittleBox3",
+   "LittleBox4",
+   "LittleBox5",
+   "Table0",
+   "Table2"
+  ],
+  "listed": [
+   {
+    "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": "Table",
+    "object": null,
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "Table2",
+    "object": null,
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/locomanipulation/LM09/session_018/motions/objects.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ad2ff408b943397cd39bdc8d6ddc41ecddc459e21d52d466fb51d68d57120c3
+size 2064018

actions/locomanipulation/LM09/session_018/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9d01ee0ce9c0acb48c5679bdbe956ccd452fc9f2f2ed87a377e74b96d32ea93
+size 9355343

actions/locomanipulation/LM09/session_018/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1141d8cb0659bb12cc24124e7ec557940b5dba0c55ca197f37eb1f38487799e
+size 6209930

actions/locomanipulation/LM09/session_018/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93d86b18e5808336218bb421dad50cc11f2c638ec87d840a8fd59647761109c2
+size 26185038