Release update 2026-11-05: 5760 sessions, instructions, annotations (part 295)

.gitattributes

@@ -43786,3 +43786,7 @@ actions/locomanipulation/LM07/session_033/raw/sensors/robowrist_imu_left.db filt
 actions/locomanipulation/LM07/session_033/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM07/session_033/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM07/session_033/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM08/session_016/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM08/session_016/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM08/session_016/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM08/session_016/raw/mocap/HighRack.trc filter=lfs diff=lfs merge=lfs -text

actions/locomanipulation/LM08/session_016/cameras/poses.npz

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+size 1389977

actions/locomanipulation/LM08/session_016/meta.json

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+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261028/LM08/20261028_043303_session48",
+ "session_id": "20261028_043303_session48",
+ "primitive": "LM08",
+ "batch": "20261028",
+ "participant": "mahui",
+ "participant_source": "manifest",
+ "device_ids": {
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+  "left": "75b5984e04d1d236",
+  "right": "c84bc808cb6b47af"
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+ "generated_at_utc": "2026-10-30T07:21:06.646092+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",
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+  "mocap_rate_fix": null,
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+  "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)",
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+ },
+ "units": {
+  "mocap": "millimetres, Nokov world, Y-up (unchanged)",
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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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+  "status": "ok",
+  "date": "2026-10-21"
+ },
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+      "err_ms": 0.6
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+      "corr": 0.205,
+      "err_ms": 147.6
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+   "third_person": {
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+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
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+   "status": "video_solve",
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+   "gyro_deg": 2.262,
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+    "reason": "",
+    "reprojection_px": 2.738,
+    "n_assoc": 761,
+    "gyro_deg": 2.262
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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": "2026-10-30T18:45:02.000262+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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+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.09703029591991919,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 48.1,
+   "headtop_p95_mm": 1635.1
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+  "gravity_check": {
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+   "g_world_mean_m_s2": [
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+   "tilt_from_z_deg": 1.983,
+   "tilt_from_z_deg_before_levelling": 2.011,
+   "magnitude_m_s2": 9.7293
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+  "rig_tracker_definition": "e3296774a321bb51/20261028-morning/labels-503412/session-0d5f68f8d6ad90c1",
+  "rig_check": {
+   "status": "video_solve",
+   "dropped_marker": null,
+   "gyro_deg": 2.262
+  },
+  "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": "2026-11-02T15:22:58.295330+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": {
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+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 5.49,
+   "p95_frame": 9.41
+  },
+  "worst_markers": [
+   "WaistRFront 15mm",
+   "WaistRSide 13mm",
+   "RKneeIn 13mm",
+   "WaistLFront 11mm",
+   "LKneeIn 10mm"
+  ],
+  "valid_fraction": 1.0,
+  "qc": {
+   "lowest_vertex_mm": {
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+    "p5": -37.7
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+   "frames_checked": 646,
+   "stature_mm": 1631.4
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+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 13.69
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 97.39,
+    "Q_rotvec": [
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+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 102.9,
+    "opposite_sign_bend_deg": 88.7,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 3.16,
+    "hand_vs_marker_frame_deg": {
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+     "after": 3.16
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+    "markers_on_wrist": [
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+     "LHandOut"
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+    "forearm_twist": {
+     "twist_moved_deg": 101.79,
+     "wrist_twist_deg_after": {
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+      "iqr": [
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+       5.0
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+     },
+     "wrist_total_deg_median_after": 21.0,
+     "markers_on_forearm": [
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+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1500
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+   "right": {
+    "status": "corrected",
+    "Q_deg": 24.59,
+    "Q_rotvec": [
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+     -0.02701,
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+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 36.0,
+    "opposite_sign_bend_deg": 151.6,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 2.99,
+    "hand_vs_marker_frame_deg": {
+     "before": 24.69,
+     "after": 2.99
+    },
+    "markers_on_wrist": [
+     "RWristOut",
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 22.09,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -8.2,
+       6.6
+      ]
+     },
+     "wrist_total_deg_median_after": 30.8,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-11-02T15:23:01.873839+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/locomanipulation/LM08/session_016",
+  "family": "locomanipulation",
+  "primitive": "LM08",
+  "source_session": "20261028/LM08/20261028_043303_session48"
+ },
+ "task": {
+  "primitive": "LM08",
+  "instruction": "Take an object from the lowest shelf, carry it across the room, and place it on the highest shelf you can comfortably reach. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+ },
+ "objects": [
+  {
+   "name": "HighRack",
+   "object_type": "HighRack",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "LittleBox1",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "LittleBox2",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "LittleBox3",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "LittleBox4",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "LittleBox5",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "LittleBox6",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  }
+ ]
+}

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actions/locomanipulation/LM08/session_016/motions/objects.json

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+{
+ "session": "20261028/LM08/20261028_043303_session48",
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