Release update 2026-11-05: 5760 sessions, instructions, annotations (part 24)

.gitattributes

@@ -41191,3 +41191,21 @@ actions/dynamic_recovery/DR09/session_014/raw/sensors/robowrist_imu_left.db filt
 actions/dynamic_recovery/DR09/session_014/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/dynamic_recovery/DR09/session_014/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/dynamic_recovery/DR09/session_014/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR10/session_008/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR10/session_008/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR10/session_008/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR10/session_008/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR10/session_008/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR10/session_008/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR10/session_008/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR10/session_008/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR10/session_008/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR10/session_009/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR10/session_009/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR10/session_009/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR10/session_009/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR10/session_009/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR10/session_009/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR10/session_009/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR10/session_009/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR10/session_009/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/dynamic_recovery/DR10/session_008/cameras/poses.npz

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actions/dynamic_recovery/DR10/session_008/meta.json

@@ -0,0 +1,530 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261030/DR10/20261030_053750_session70",
+ "session_id": "20261030_053750_session70",
+ "primitive": "DR10",
+ "batch": "20261030",
+ "participant": "huruoxuan",
+ "participant_source": "manifest",
+ "device_ids": {
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+  "left": "39042f5fb5da3b12",
+  "right": "65a3481473d6e2a0"
+ },
+ "generated_at_utc": "2026-11-03T05:45:23.270559+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": 136.95833333333334,
+  "mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
+ },
+ "alignment": {
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+  "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": -0.087665,
+  "rate": 0.0,
+  "global_lag_s": -0.085,
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+   "window_corr_median": 0.9975014737665716,
+   "drift_ppm": -400.2706941327701,
+   "drift_se_ppm": 235.81484839696728,
+   "drift_ms_over_take": -54.817071561482855,
+   "lag_scatter_ms": 25.742370891847592,
+   "lag_range_ms": 106.09655769227007
+  }
+ },
+ "units": {
+  "mocap": "millimetres, Nokov world, Y-up (unchanged)",
+  "y_up_to_z_up": [
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+    1.0,
+    0.0,
+    0.0
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+   [
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+   [
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+  "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"
+ },
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+    "pts_gaps": 0,
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+      "err_ms": 30.4
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+   "third_person": {
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+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
+ "rig_tracker": {
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+  "R_tracker0_imu0": [
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+   "status": "video_solve",
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+   "gyro_deg": 0.364,
+   "video_solve": {
+    "status": "ok",
+    "reason": "",
+    "reprojection_px": 3.421,
+    "n_assoc": 286,
+    "gyro_deg": 0.364
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+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "canonical": {
+  "generated_at_utc": "2026-11-03T09:17:41.900643+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": [
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+  "T_canon_nokov_mm": [
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+  "block_assignment": "trc",
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+  "plane_status": "ok",
+  "floor": {
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+   "headtop_p95_mm": 1684.2
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+   "g_world_mean_m_s2": [
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+   "tilt_from_z_deg_before_levelling": 0.47,
+   "magnitude_m_s2": 9.7462
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+  "rig_check": {
+   "status": "video_solve",
+   "dropped_marker": null,
+   "gyro_deg": 0.364
+  },
+  "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": "2026-11-03T10:35:12.017981+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": {
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+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 3.46,
+   "p95_frame": 6.36
+  },
+  "worst_markers": [
+   "LShin 9mm",
+   "RKneeIn 8mm",
+   "LHeel 8mm",
+   "LKneeIn 7mm",
+   "RThigh 7mm"
+  ],
+  "valid_fraction": 1.0,
+  "qc": {
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+    "p5": 19.7
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+   "frames_checked": 548,
+   "stature_mm": 1572.8
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 12.38
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 6.94,
+    "Q_rotvec": [
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+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 16.9,
+    "opposite_sign_bend_deg": 170.5,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 0.87,
+    "hand_vs_marker_frame_deg": {
+     "before": 7.09,
+     "after": 0.87
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+    "markers_on_wrist": [
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+     "LHandOut"
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+    "forearm_twist": {
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+      "iqr": [
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+       1.9
+      ]
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+     "wrist_total_deg_median_after": 15.6,
+     "markers_on_forearm": [
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 50.86,
+    "Q_rotvec": [
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+     -0.07774
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+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 45.3,
+    "opposite_sign_bend_deg": 144.8,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 1.39,
+    "hand_vs_marker_frame_deg": {
+     "before": 50.75,
+     "after": 1.39
+    },
+    "markers_on_wrist": [
+     "RWristOut",
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -40.96,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -2.2,
+       2.3
+      ]
+     },
+     "wrist_total_deg_median_after": 19.7,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-11-03T10:35:15.258579+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/dynamic_recovery/DR10/session_008",
+  "family": "dynamic_recovery",
+  "primitive": "DR10",
+  "source_session": "20261030/DR10/20261030_053750_session70"
+ },
+ "task": {
+  "primitive": "DR10",
+  "instruction": "Walk across the mats at a normal pace. They may not all feel the same underfoot. Carry on afterwards."
+ }
+}

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+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/dynamic_recovery/DR10/session_009",
+  "family": "dynamic_recovery",
+  "primitive": "DR10",
+  "source_session": "20261030/DR10/20261030_103618_session19"
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+ "task": {
+  "primitive": "DR10",
+  "instruction": "Walk across the mats at a normal pace. They may not all feel the same underfoot. Carry on afterwards."
+ }
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