Release update 2026-11-05: new sessions, instructions, annotations (part 302)

actions/locomanipulation/LM32/session_035/cameras/slam.npz

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    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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 }

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+  "instruction": "Carry the lidded box and, while you are still walking, open the lid, then close it again. Repeat as you walk back and forth. Do not stop to do it."
  }
 }

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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"
+ },
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+  "date": "2026-10-21"
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+   "third_person": {
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+    "clock": "nokov (frame index)",
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+  }
+ },
+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
+ "rig_tracker": {
+  "definition": "c9205ac6e17d2d5c/20261027-morning/labels-230415/session-ae69283452cbd14e",
+  "R_tracker0_imu0": [
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+    -0.65192741
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+   -0.12236768981585744
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+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 2.287
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-28T23:23:37.818459+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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+    0.9999917896,
+    0.0040522361,
+    1.40821e-05
+   ],
+   [
+    -1.40821e-05,
+    0.0069501878,
+    -0.9999758471
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+   [
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+    0.9999676366,
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+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
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+    0.00099999179,
+    4.052236e-06,
+    1.4082e-08,
+    0.0
+   ],
+   [
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+    6.950188e-06,
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+  "block": "20261027-morning",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.46096270469771533,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 28.5,
+   "headtop_p95_mm": 1513.6
+  },
+  "gravity_check": {
+   "static_samples": 1149,
+   "g_world_mean_m_s2": [
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+    9.7219
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+   "tilt_from_z_deg": 0.5,
+   "tilt_from_z_deg_before_levelling": 0.217,
+   "magnitude_m_s2": 9.7223
+  },
+  "rig_tracker_definition": "c9205ac6e17d2d5c/20261027-morning/labels-230415/session-ae69283452cbd14e",
+  "rig_check": {
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 2.287
+  },
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-29T09:21:56.886155+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": [
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+      0.006675214506685734,
+      0.03866182640194893
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+     "LHandOut": [
+      0.052503254264593124,
+      0.0266877431422472,
+      -0.00996716320514679
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+    },
+    "right": {
+     "RHandIn": [
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+      0.014296019449830055,
+      0.02467118576169014
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+     "RHandOut": [
+      0.003172258147969842,
+      0.044783107936382294,
+      0.00670244125649333
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 6.48,
+   "p95_frame": 10.52
+  },
+  "worst_markers": [
+   "RElbowIn 22mm",
+   "RElbow 21mm",
+   "RWristIn 14mm",
+   "RForearm 13mm",
+   "WaistRFront 12mm"
+  ],
+  "valid_fraction": 0.9995,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 15.6,
+    "p5": 9.4
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+   "frames_checked": 556,
+   "stature_mm": 1502.4
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+  "surface_term": {
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+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 13.06
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+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 37.01,
+    "Q_rotvec": [
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+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 69.2,
+    "opposite_sign_bend_deg": 123.6,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 3.46,
+    "hand_vs_marker_frame_deg": {
+     "before": 36.68,
+     "after": 3.46
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 60.56,
+     "wrist_twist_deg_after": {
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+      "iqr": [
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+       10.1
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+     },
+     "wrist_total_deg_median_after": 35.5,
+     "markers_on_forearm": [
+      "LElbowIn",
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
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+    "frames_used": 1500
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+   "right": {
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+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 75.4,
+    "opposite_sign_bend_deg": 136.5,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 3.53,
+    "hand_vs_marker_frame_deg": {
+     "before": 87.16,
+     "after": 3.53
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -58.25,
+     "wrist_twist_deg_after": {
+      "median": -0.51,
+      "iqr": [
+       -3.1,
+       16.2
+      ]
+     },
+     "wrist_total_deg_median_after": 46.9,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1469
+   },
+   "generated_at_utc": "2026-10-29T09:22:00.163141+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "marker_relabel": {
+  "generated_at_utc": "2026-10-29T08:52:26.171843+00:00",
+  "generated_by": "scripts/relabel_marker_swaps.py",
+  "margin_s": 0.75,
+  "sides": {
+   "left": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 4090,
+    "frames_flipped": 0,
+    "stretches": []
+   },
+   "right": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 3876,
+    "frames_flipped": 40,
+    "stretches": [
+     {
+      "t0": 56.38,
+      "t1": 57.43,
+      "dur_s": 1.05,
+      "marker_turn_deg": 141.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 137.7,
+      "err_swapped_deg": 32.9,
+      "calib_err_deg": 10.9,
+      "applied": true
+     },
+     {
+      "t0": 100.73,
+      "t1": 101.8,
+      "dur_s": 1.07,
+      "marker_turn_deg": 80.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 69.2,
+      "err_swapped_deg": 46.2,
+      "calib_err_deg": 10.9,
+      "applied": false
+     }
+    ]
+   }
+  },
+  "applied": 1
+ },
+ "release": {
+  "release_path": "actions/locomanipulation/LM32/session_037",
+  "family": "locomanipulation",
+  "primitive": "LM32",
+  "source_session": "20261027/LM32/20261027_045110_session61"
+ },
+ "task": {
+  "primitive": "LM32",
+  "instruction": "Carry the lidded box and, while you are still walking, open the lid, then close it again. Repeat as you walk back and forth. Do not stop to do it."
+ }
+}

actions/locomanipulation/LM32/session_037/motions/head_rig.npz

@@ -0,0 +1,3 @@
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