Release update 2026-11-05: new sessions, instructions, annotations (part 44)

actions/locomanipulation/LM15/session_050/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16f87b1a5890f92e249f78dacaa3b3c628a4941e4bc1b4b51734b310a002cfee
+size 288365

actions/locomanipulation/LM15/session_050/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8dce02aac7708e2a457029365f0d6cc576142473d27c9828b4cda9cb36f259ed
+size 73286989

actions/locomanipulation/LM15/session_050/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e351c4ddea079d845041e6a2e637b488e0a999878507f40c55512cf25dbfff61
+size 73236114

actions/locomanipulation/LM15/session_050/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0af5b049b1e5a32813db640101d2f0e2ab4c63cfc9d92cb06f66925241b4aef
+size 73312885

actions/locomanipulation/LM15/session_050/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9fd54baec12bebb7b81a53720582ecaf86fae17a90599b39e8a57a027bc7a8e
+size 73286449

actions/locomanipulation/LM15/session_050/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc6d5408500121c8efb8117b80f9ad67e618234b60578eb319f8f5f236278813
+size 73251308

actions/locomanipulation/LM15/session_050/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d198a020d7c5734bfa6dd49f3e77e7ade74c96c4dfd836ff8d5b907e49b52db
+size 73339472

actions/locomanipulation/LM15/session_050/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f014247b22538dee437d34ba91f2cb3fd060d69f556b034d671ac184bbdf55b
+size 50893741

actions/locomanipulation/LM15/session_050/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc83b2594d2490ff3b9cecce68c2e9a1eae8b1c2eb0e37e55c6727076ba677dd
+size 47422064

actions/locomanipulation/LM15/session_050/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6d7cf264ea6f4f2f0b763d87d2d484f709b7d72ae6b3185803e5012b4328c8a
+size 37180039

actions/locomanipulation/LM15/session_051/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45ebb21e24c3ec81ad2c3ecb829e9fe96114174383f2b9d67c4f96c14ffed0f9
+size 1192849

actions/locomanipulation/LM15/session_051/meta.json

@@ -0,0 +1,546 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261028/LM15/20261028_083243_session82",
+ "session_id": "20261028_083243_session82",
+ "primitive": "LM15",
+ "batch": "20261028",
+ "participant": "xiaobo",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e3296774a321bb51",
+  "left": "39042f5fb5da3b12",
+  "right": "65a3481473d6e2a0"
+ },
+ "generated_at_utc": "2026-10-28T20:02:05.219186+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": {
+  "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": -0.086142,
+  "rate": 0.0,
+  "global_lag_s": -0.085,
+  "peak_corr": 0.9971,
+  "reference_imu_first_sample_s": 28060.673151395,
+  "windows": {
+   "n_windows": 12,
+   "window_corr_median": 0.9945201366653096,
+   "drift_ppm": 3.066817484597787,
+   "drift_se_ppm": 1.5979050891885254,
+   "drift_ms_over_take": 0.42000065451566687,
+   "lag_scatter_ms": 0.1744328897670501,
+   "lag_range_ms": 0.6522111955079013
+  }
+ },
+ "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": "e3296774a321bb51",
+  "status": "ok",
+  "date": "2026-10-21"
+ },
+ "streams": {
+  "sensors": {
+   "imu_head_right": {
+    "n_acc": 27651,
+    "n_gyro": 27646,
+    "t_start": -0.093090963432503,
+    "t_end": 137.14703594556804
+   },
+   "imu_head_left": {
+    "n_acc": 27517,
+    "n_gyro": 27511,
+    "t_start": 0.019238161568039258,
+    "t_end": 137.3149639085651
+   },
+   "imu_wrist_right": {
+    "n_acc": 27649,
+    "n_gyro": 27650,
+    "t_start": -0.776498398433348,
+    "t_end": 135.50004174956584
+   },
+   "imu_wrist_left": {
+    "n_acc": 27537,
+    "n_gyro": 27536,
+    "t_start": -0.9208298954316956,
+    "t_end": 135.52210044556804
+   },
+   "mag_head": {
+    "n": 13736,
+    "t_start": 0.13239824556612123,
+    "t_end": 137.48239831056807
+   },
+   "mag_wrist_right": {
+    "n": 13616,
+    "t_start": -0.763471043434863,
+    "t_end": 135.49700920656787
+   },
+   "mag_wrist_left": {
+    "n": 13643,
+    "t_start": -0.9039507714323076,
+    "t_end": 135.51661544756743
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 28060.796656,
+    "frames": 4108,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0025546514432425653,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.03991735100961935,
+    "t_end": 136.93982835101005,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 28060.796614,
+    "frames": 4108,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002366886077403108,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.039687585643234824,
+    "t_end": 136.93959858564367,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 28060.796643,
+    "frames": 4108,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0026728712083183277,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.040022570775447575,
+    "t_end": 136.93993357077588,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 28060.796668,
+    "frames": 4108,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002595594493655556,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.039970294060451605,
+    "t_end": 136.93989229406097,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 60.0,
+    "start_device_s": 28060.796628,
+    "frames": 4099,
+    "pts_gaps": 4098,
+    "timing": "pts (gap undecided)",
+    "timeshift_cam_imu_s": 0.002394386090989767,
+    "gap_test": {
+     "pts": {
+      "offset_ms": -11.1,
+      "corr": 0.763,
+      "err_ms": 13.5
+     },
+     "nominal": {
+      "offset_ms": 150.0,
+      "corr": 0.117,
+      "err_ms": 147.6
+     }
+    },
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.03972908565728406,
+    "t_end": 136.956273085657,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 28060.79659,
+    "frames": 4108,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002315656053021164,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.03961235562118648,
+    "t_end": 136.93952335562162,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 28059.864708,
+    "frames": 4092,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": -0.8945853004323976,
+    "t_end": 135.47266769956795,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 28059.977179,
+    "frames": 4087,
+    "pts_gaps": 1,
+    "timing": "pts (gap undecided)",
+    "timeshift_cam_imu_s": null,
+    "gap_test": {},
+    "file": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": -0.7821143004320288,
+    "t_end": 135.45173969956622,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-LM15-S01-xiaobo-01p1-1.mp4",
+    "frames": 4109,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 136.93333333333334
+   }
+  }
+ },
+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
+ "rig_tracker": {
+  "definition": "e3296774a321bb51/20261028-afternoon/labels-235140/session-bef8ef254976db3b",
+  "R_tracker0_imu0": [
+   [
+    -0.67476596,
+    0.32534394,
+    -0.66245167
+   ],
+   [
+    0.73739253,
+    0.3345475,
+    -0.58679659
+   ],
+   [
+    0.03071084,
+    -0.88443728,
+    -0.46564745
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   -0.17444543856983238,
+   -0.0095617372836605,
+   -0.04791382530061449
+  ],
+  "rig_check": {
+   "gyro_samples": 5081,
+   "gyro_max_deg": 2.5,
+   "status": "video_solve",
+   "dropped_marker": null,
+   "gyro_deg": 0.849,
+   "video_solve": {
+    "status": "ok",
+    "reason": "",
+    "reprojection_px": 3.473,
+    "n_assoc": 355,
+    "gyro_deg": 0.849
+   }
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-30T18:45:32.001316+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": 39.8,
+   "headtop_p95_mm": 1710.4
+  },
+  "gravity_check": {
+   "static_samples": 915,
+   "g_world_mean_m_s2": [
+    0.0979,
+    0.0296,
+    9.7329
+   ],
+   "tilt_from_z_deg": 0.602,
+   "tilt_from_z_deg_before_levelling": 0.43,
+   "magnitude_m_s2": 9.7335
+  },
+  "rig_tracker_definition": "e3296774a321bb51/20261028-afternoon/labels-235140/session-bef8ef254976db3b",
+  "rig_check": {
+   "status": "video_solve",
+   "dropped_marker": null,
+   "gyro_deg": 0.849
+  },
+  "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": "2026-11-02T15:33:33.011057+00:00",
+  "generated_by": "scripts/fit_smplx_dataset.py",
+  "file": "smplx.npz",
+  "gender": "male",
+  "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": [
+      0.06946693360805511,
+      0.02620488777756691,
+      0.006175355054438114
+     ],
+     "LHandOut": [
+      0.06318176537752151,
+      0.014554250054061413,
+      -0.03163731470704079
+     ],
+     "LWristIn": [
+      -0.010305442847311497,
+      0.017712663859128952,
+      0.02274223230779171
+     ],
+     "LWristOut": [
+      -0.004546199459582567,
+      0.016880404204130173,
+      -0.02319042943418026
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.027554087340831757,
+      0.022824600338935852,
+      0.025296969339251518
+     ],
+     "RHandOut": [
+      -0.03552998974919319,
+      0.03357945382595062,
+      -0.023970356211066246
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 3.69,
+   "p95_frame": 5.97
+  },
+  "worst_markers": [
+   "RThigh 8mm",
+   "LThigh 8mm",
+   "LShin 7mm",
+   "RHeadBack 7mm",
+   "LKneeIn 7mm"
+  ],
+  "valid_fraction": 0.9995,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 2.6,
+    "p5": -2.0
+   },
+   "frames_checked": 548,
+   "stature_mm": 1700.1
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 13.08
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 14.31,
+    "Q_rotvec": [
+     -0.17759,
+     -0.0812,
+     0.15565
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 19.4,
+    "opposite_sign_bend_deg": 163.1,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 0.61,
+    "hand_vs_marker_frame_deg": {
+     "before": 14.34,
+     "after": 0.61
+    },
+    "markers_on_wrist": [
+     "LWristIn",
+     "LWristOut",
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -13.95,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -2.8,
+       1.2
+      ]
+     },
+     "wrist_total_deg_median_after": 13.2,
+     "markers_on_forearm": [
+      "LElbowIn",
+      "LForearm"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 39.16,
+    "Q_rotvec": [
+     0.31063,
+     0.44509,
+     -0.41551
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 63.1,
+    "opposite_sign_bend_deg": 150.2,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 4.05,
+    "hand_vs_marker_frame_deg": {
+     "before": 39.14,
+     "after": 4.05
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -42.46,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -2.9,
+       3.8
+      ]
+     },
+     "wrist_total_deg_median_after": 46.0,
+     "markers_on_forearm": [
+      "RElbowIn",
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-11-02T15:33:36.180633+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/locomanipulation/LM15/session_051",
+  "family": "locomanipulation",
+  "primitive": "LM15",
+  "source_session": "20261028/LM15/20261028_083243_session82"
+ },
+ "task": {
+  "primitive": "LM15",
+  "instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room."
+ },
+ "objects": [
+  {
+   "name": "BigBox2",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
+}

actions/locomanipulation/LM15/session_051/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2499affb5727cf2d88b51921e4b6d58991168291e3b427ffd96c238f1c498ba8
+size 1224630

actions/locomanipulation/LM15/session_051/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:037eee6850908ccef8cb4f99b8bb50fcc27110c4d98ed5e72e7dfd5504ad9bfd
+size 9534537

actions/locomanipulation/LM15/session_051/motions/object_markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01a8e26604b96cb451026cf1dabfd8ab4c2cf0e9c7cb2d42617730d668705323
+size 772805

actions/locomanipulation/LM15/session_051/motions/objects.json

@@ -0,0 +1,52 @@
+{
+ "session": "20261028/LM15/20261028_083243_session82",
+ "generated_at_utc": "2026-11-04T20:11:06.459414+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": "BigBox2",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 58.65,
+   "verified_pct": 58.65,
+   "moving_pct": 56.51,
+   "vision_source": null
+  }
+ ],
+ "absent": [
+  {
+   "name": "LittleBox5",
+   "object_type": "LittleBox",
+   "valid_s": 0.0
+  }
+ ],
+ "object_list": {
+  "status": "match",
+  "notes": [],
+  "declared": [
+   "BigBox2",
+   "LittleBox5"
+  ],
+  "listed": [
+   {
+    "name": "BigBox2",
+    "object": "BigBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LittleBox5",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/locomanipulation/LM15/session_051/motions/objects.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2600182c02781136d24b51c7ea6df1ed70aed5441870cb6cb180eb9c1e75530a
+size 494722

actions/locomanipulation/LM15/session_051/motions/skeleton.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d3fb02ea99fe99ebb3fe4a7502ee9947092b6b271788c0c58c2dda53272da9e
+size 9588351

actions/locomanipulation/LM15/session_051/motions/smplx.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d96dcdd49e89ad6fad12e59ccde3bdb8db0ef9b456529b4de073d74209d3caa
+size 6311109

actions/locomanipulation/LM15/session_051/raw/audio.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2faa4e41c18e92509155279fab6dcd7d8b73e5f2df850112908f8a95dadfac52
+size 26373198