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Release update 2026-11-05: 5760 sessions, instructions, annotations (part 285)

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  26. actions/locomanipulation/LM07/session_029/sensors/head_mag.npz +3 -0
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  28. actions/locomanipulation/LM07/session_029/sensors/wrist_mag.npz +3 -0
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+ "gyro": "rad/s (65.536 LSB/dps)",
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+ "mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
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+ "quaternions": "xyzw, Nokov global"
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+ },
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+ "timing": "pts",
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+ "clock": "nokov (frame index)",
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+ }
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+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
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+ "rig_tracker": {
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+ }
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+ },
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+ "file": "derived/rig_tracker_provider/rig_tracker.json",
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+ "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
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+ },
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+ "canonical": {
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+ "generated_by": "scripts/canonicalise_dataset.py",
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+ "frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
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+ "R_canon_nokov": [
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+ "block": "20261031-morning",
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+ "block_assignment": "trc",
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+ },
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+ "camera_pose_source": "T_tracker0_imu0 @ inv(T_cam_imu)",
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+ "files": [
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+ "mocap_zup.npz",
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+ "tracker0_zup.npz",
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+ "rig_zup.npz",
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+ "cameras_zup.npz"
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+ ]
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+ "generated_by": "scripts/fit_smplx_dataset.py",
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+ "file": "smplx.npz",
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+ "gender": "female",
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+ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
373
+ "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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+ "hands": {
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+ "hand_pose": "flat (zeros, flat_hand_mean=True)",
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+ "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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+ "marker_rmse_mm": {
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+ },
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+ "worst_markers": [
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+ "LKneeIn 23mm",
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+ "LElbow 11mm",
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+ "RElbowIn 11mm",
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+ "RThigh 9mm"
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+ ],
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+ "shape_source": "participant median",
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+ "in_out_sign": 1,
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+ "wrist_bend_deg_median": 33.6,
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+ "opposite_sign_bend_deg": 175.4,
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+ "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
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+ "marker_frame_spread_deg": 2.8,
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+ "hand_vs_marker_frame_deg": {
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+ "before": 21.3,
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+ },
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+ "markers_on_wrist": [
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+ "LWristIn",
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+ "LWristOut",
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+ "LHandIn",
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+ "LHandOut"
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+ ],
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+ "forearm_twist": {
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+ 2.1
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+ ]
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+ },
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+ "wrist_total_deg_median_after": 32.9,
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+ "markers_on_forearm": [
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+ "LForearm"
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+ ]
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+ },
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+ "frames_used": 1464
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+ "right": {
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+ "Q_rotvec": [
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+ ],
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+ "in_out_sign": 1,
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+ "wrist_bend_deg_median": 16.6,
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+ "opposite_sign_bend_deg": 170.1,
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+ "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
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+ "marker_frame_spread_deg": 2.34,
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+ "hand_vs_marker_frame_deg": {
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+ "before": 60.06,
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+ },
510
+ "markers_on_wrist": [
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+ "RWristOut",
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+ "RHandIn",
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+ "RHandOut"
515
+ ],
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+ "forearm_twist": {
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+ 6.3
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+ ]
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+ },
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+ "wrist_total_deg_median_after": 11.9,
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+ ]
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+ },
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+ "frames_used": 1464
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+ },
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+ "generated_at_utc": "2026-11-03T15:21:19.888946+00:00",
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+ "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
534
+ }
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+ },
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+ "marker_relabel": {
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+ "generated_at_utc": "2026-11-03T14:23:34.635417+00:00",
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+ "generated_by": "scripts/relabel_marker_swaps.py",
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+ "margin_s": 0.75,
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+ "left": {
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+ "applied": true
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+ },
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+ {
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+ "t0": 153.48,
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+ "marker_turn_deg": 4.0,
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+ "err_as_labelled_deg": 127.6,
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+ "applied": false
569
+ }
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+ ]
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+ },
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+ "right": {
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+ "frames_ok": 3748,
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+ "t1": 60.33,
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+ "dur_s": 4.03,
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+ "marker_turn_deg": 86.0,
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+ "confirm": "imu",
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+ "applied": true
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+ },
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+ {
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+ "t0": 153.28,
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+ }
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+ ]
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+ }
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+ },
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+ "applied": 2
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+ },
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+ "release": {
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+ "release_path": "actions/locomanipulation/LM07/session_030",
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+ "family": "locomanipulation",
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+ "primitive": "LM07",
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+ "source_session": "20261031/LM07/20261031_035339_session41"
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+ },
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+ "task": {
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+ "primitive": "LM07",
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+ "instruction": "Take an object down from the highest shelf you can comfortably reach, carry it across, and place it on the waist-height shelf. Keep going until the operator says stop; one object at a time, and do not rush between trips."
615
+ },
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