Release update 2026-11-05: new sessions, instructions, annotations (part 274)

.gitattributes

@@ -45043,3 +45043,12 @@ actions/locomanipulation/LM30/session_027/raw/sensors/robowrist_imu_left.db filt
 actions/locomanipulation/LM30/session_027/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM30/session_027/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM30/session_027/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_028/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_028/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_028/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_028/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_028/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_028/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_028/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_028/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM30/session_028/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/locomanipulation/LM30/session_028/cameras/poses.npz

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actions/locomanipulation/LM30/session_028/meta.json

@@ -0,0 +1,550 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261030/LM30/20261030_020847_session17",
+ "session_id": "20261030_020847_session17",
+ "primitive": "LM30",
+ "batch": "20261030",
+ "participant": "huruoxuan",
+ "participant_source": "manifest",
+ "device_ids": {
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+  "left": "39042f5fb5da3b12",
+  "right": "65a3481473d6e2a0"
+ },
+ "generated_at_utc": "2026-11-03T05:46:56.081017+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,
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+  "model": "offset (median of windows)",
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+   "lag_scatter_ms": 0.38134841927817087,
+   "lag_range_ms": 1.6426843174979222
+  }
+ },
+ "units": {
+  "mocap": "millimetres, Nokov world, Y-up (unchanged)",
+  "y_up_to_z_up": [
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+    0.0,
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+  "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": {
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+  "status": "ok",
+  "date": "2026-10-21"
+ },
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+      "err_ms": 1.2
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+      "corr": 0.037,
+      "err_ms": 147.6
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+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
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+    "n_assoc": 371,
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+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
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+  "plane_status": "ok",
+  "floor": {
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+   "gyro_deg": 0.731
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+  "camera_pose_source": "T_tracker0_imu0 @ inv(T_cam_imu)",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
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+  "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": {
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+  "marker_rmse_mm": {
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+   "p95_frame": 10.62
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+  "worst_markers": [
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+   "LThigh 13mm",
+   "STRN 12mm",
+   "WaistRFront 11mm"
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+  "qc": {
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+   "stature_mm": 1572.8
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+  "surface_term": {
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+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 12.82
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+  "shape_source": "participant median",
+  "wrist_correction": {
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+    "status": "corrected",
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+    "Q_rotvec": [
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+    "in_out_sign": 1,
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+    "hand_vs_marker_frame_deg": {
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+      "LForearm",
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+    "opposite_sign_bend_deg": 129.5,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
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+     "wrist_total_deg_median_after": 21.7,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn"
+     ]
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+    "frames_used": 1500
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+   "generated_at_utc": "2026-11-03T11:06:05.319516+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/locomanipulation/LM30/session_028",
+  "family": "locomanipulation",
+  "primitive": "LM30",
+  "source_session": "20261030/LM30/20261030_020847_session17"
+ },
+ "task": {
+  "primitive": "LM30",
+  "instruction": "Carry the box across the soft uneven mat, set it down on the far side, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+ },
+ "objects": [
+  {
+   "name": "BigBox2",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "Cushion",
+   "object_type": "Cushion",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
+}

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actions/locomanipulation/LM30/session_028/motions/objects.json

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+{
+ "session": "20261030/LM30/20261030_020847_session17",
+ "generated_at_utc": "2026-11-04T20:53:52.854247+00:00",
+ "generated_by": "scripts/export_objects.py",
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