Release update 2026-11-05: new sessions, instructions, annotations (part 47)

.gitattributes

@@ -44526,3 +44526,12 @@ actions/locomanipulation/LM15/session_052/raw/sensors/robowrist_imu_left.db filt
 actions/locomanipulation/LM15/session_052/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM15/session_052/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM15/session_052/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM15/session_053/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM15/session_053/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM15/session_053/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM15/session_053/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM15/session_053/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM15/session_053/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM15/session_053/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM15/session_053/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM15/session_053/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/locomanipulation/LM15/session_052/videos/wrist_left.mp4

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actions/locomanipulation/LM15/session_053/meta.json

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+ "session_id": "20261028_083912_session85",
+ "primitive": "LM15",
+ "batch": "20261028",
+ "participant": "xiaobo",
+ "participant_source": "manifest",
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+ "generated_by": "scripts/sync_dataset.py",
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+ },
+ "units": {
+  "mocap": "millimetres, Nokov world, Y-up (unchanged)",
+  "y_up_to_z_up": [
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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)",
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+  "status": "ok",
+  "date": "2026-10-21"
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+  "camera_pose_source": "T_tracker0_imu0 @ inv(T_cam_imu)",
+  "files": [
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+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
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+  "generated_by": "scripts/fit_smplx_dataset.py",
+  "file": "smplx.npz",
+  "gender": "male",
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+  "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",
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+   "LElbowIn 9mm",
+   "LKneeIn 9mm",
+   "LThigh 9mm",
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+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 13.04
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+  "wrist_correction": {
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+     "after": 0.57
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+     "RHandIn",
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+    "forearm_twist": {
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+      "iqr": [
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+       0.9
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+     "wrist_total_deg_median_after": 18.4,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-11-02T15:35:17.100568+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/locomanipulation/LM15/session_053",
+  "family": "locomanipulation",
+  "primitive": "LM15",
+  "source_session": "20261028/LM15/20261028_083912_session85"
+ },
+ "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"
+  }
+ ]
+}

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+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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+  "family": "locomanipulation",
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+   "object_type": "BigBox",
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+}

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+ "generated_at_utc": "2026-11-04T20:12:27.485367+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",
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+   "object_type": "BigBox",
+   "source": "mocap",
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+  "status": "match",
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+  "declared": [
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+    "object": "BigBox",
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+ "notes": []
+}