Release update 2026-11-05: new sessions, instructions, annotations (part 54)

.gitattributes

@@ -44544,3 +44544,22 @@ actions/locomanipulation/LM15/session_054/raw/sensors/robowrist_imu_left.db filt
 actions/locomanipulation/LM15/session_054/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM15/session_054/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM15/session_054/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_038/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_038/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_038/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_038/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_038/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_038/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_038/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_038/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_038/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_038/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_039/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_039/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_039/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_039/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_039/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_039/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_039/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_039/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM16/session_039/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/locomanipulation/LM16/session_038/meta.json

@@ -0,0 +1,550 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261027/LM16/20261027_050141_session47",
+ "session_id": "20261027_050141_session47",
+ "primitive": "LM16",
+ "batch": "20261027",
+ "participant": "xiaobo",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e3296774a321bb51",
+  "left": "75b5984e04d1d236",
+  "right": "c84bc808cb6b47af"
+ },
+ "generated_at_utc": "2026-10-28T19:49:28.490687+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": 147.19166666666666,
+  "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": -0.082155,
+  "rate": 0.0,
+  "global_lag_s": -0.08,
+  "peak_corr": 0.9971,
+  "reference_imu_first_sample_s": 14092.409899332,
+  "windows": {
+   "n_windows": 13,
+   "window_corr_median": 0.9974179154764361,
+   "drift_ppm": -5.617574309987013,
+   "drift_se_ppm": 3.0621577563050435,
+   "drift_ms_over_take": -0.8268133121915886,
+   "lag_scatter_ms": 0.3800037840828519,
+   "lag_range_ms": 1.3976796938614533
+  }
+ },
+ "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": {
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+    "n_gyro": 29704,
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+    "n_gyro": 29560,
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+    "t_end": 147.53554336768286
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+    "n_gyro": 29482,
+    "t_start": -0.82838854231737,
+    "t_end": 145.78203649568388
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+    "n_gyro": 29730,
+    "t_start": -0.8874779773162658,
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+   "mag_head": {
+    "n": 14760,
+    "t_start": 0.10709556968289742,
+    "t_end": 147.69709168168413
+   },
+   "mag_wrist_right": {
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+    "t_end": 145.77904096868372
+   },
+   "mag_wrist_left": {
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+    "t_start": -0.8695020653161549,
+    "t_end": 145.7807692946841
+   }
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+  "videos": {
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+    "frames": 4415,
+    "pts_gaps": 0,
+    "timing": "pts",
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+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.0400641691263814,
+    "t_end": 147.17333116912562,
+    "clock": "device",
+    "calibrated": true
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+    "frames": 4415,
+    "pts_gaps": 0,
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+    "timeshift_cam_imu_s": 0.002366886077403108,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.03984740376075986,
+    "t_end": 147.17312540376008,
+    "clock": "device",
+    "calibrated": true
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+   "left_front": {
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+    "frames": 4415,
+    "pts_gaps": 0,
+    "timing": "pts",
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+    "file": "robocap_segment1_video_left_front.mp4",
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+    "pts_gaps": 0,
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+    "file": "robocap_segment1_video_right_front.mp4",
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+    "t_end": 147.17338111217543,
+    "clock": "device",
+    "calibrated": true
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+   "left_eye": {
+    "fps": 60.0,
+    "start_device_s": 14092.529545,
+    "frames": 4396,
+    "pts_gaps": 4395,
+    "timing": "pts (gap undecided)",
+    "timeshift_cam_imu_s": 0.002394386090989767,
+    "gap_test": {
+     "pts": {
+      "offset_ms": -31.3,
+      "corr": 0.879,
+      "err_ms": 33.7
+     },
+     "nominal": {
+      "offset_ms": -150.0,
+      "corr": 0.348,
+      "err_ms": 152.4
+     }
+    },
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.03988490377345495,
+    "t_end": 147.18981790377404,
+    "clock": "device",
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+    "frames": 4415,
+    "pts_gaps": 0,
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+    "clock": "device",
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+    "start_device_s": 14091.600969,
+    "frames": 4400,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_75b5984e04d1d236_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": -0.8910854823173935,
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+    "calibrated": false
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+   "wrist_right": {
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+    "start_device_s": 14091.655563,
+    "frames": 4398,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": -0.8364914823163048,
+    "t_end": 145.73063051768406,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-LM16-S02-xiaobo-01p2-1.mp4",
+    "frames": 4416,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 147.16666666666666
+   }
+  }
+ },
+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
+ "rig_tracker": {
+  "definition": "e3296774a321bb51/20261027-morning/labels-235140/session-3f8063bb51301756",
+  "R_tracker0_imu0": [
+   [
+    0.03042655,
+    0.95560392,
+    0.29307914
+   ],
+   [
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+    -0.23047109,
+    0.67911508
+   ],
+   [
+    0.7165113,
+    0.18358713,
+    -0.6729839
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   0.035124162363232694,
+   0.1788572272530552,
+   -0.016857606592216957
+  ],
+  "rig_check": {
+   "gyro_samples": 4549,
+   "gyro_max_deg": 2.5,
+   "status": "video_solve",
+   "dropped_marker": null,
+   "gyro_deg": 0.729,
+   "video_solve": {
+    "status": "ok",
+    "reason": "",
+    "reprojection_px": 3.341,
+    "n_assoc": 298,
+    "gyro_deg": 0.729
+   }
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-28T23:23:25.574707+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": [
+   [
+    0.9999917896,
+    0.0040522361,
+    1.40821e-05
+   ],
+   [
+    -1.40821e-05,
+    0.0069501878,
+    -0.9999758471
+   ],
+   [
+    -0.0040522361,
+    0.9999676366,
+    0.0069501878
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.00099999179,
+    4.052236e-06,
+    1.4082e-08,
+    0.0
+   ],
+   [
+    -1.4082e-08,
+    6.950188e-06,
+    -0.000999975847,
+    0.0
+   ],
+   [
+    -4.052236e-06,
+    0.000999967637,
+    6.950188e-06,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20261027-morning",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.46096270469771533,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 44.0,
+   "headtop_p95_mm": 1720.2
+  },
+  "gravity_check": {
+   "static_samples": 1806,
+   "g_world_mean_m_s2": [
+    0.1255,
+    -0.0872,
+    9.7763
+   ],
+   "tilt_from_z_deg": 0.895,
+   "tilt_from_z_deg_before_levelling": 1.039,
+   "magnitude_m_s2": 9.7775
+  },
+  "rig_tracker_definition": "e3296774a321bb51/20261027-morning/labels-235140/session-3f8063bb51301756",
+  "rig_check": {
+   "status": "video_solve",
+   "dropped_marker": null,
+   "gyro_deg": 0.729
+  },
+  "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": "2026-10-29T06:56:11.463096+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": [
+      0.06841094046831131,
+      0.01937340758740902,
+      0.014467542991042137
+     ],
+     "LHandOut": [
+      0.04624483734369278,
+      0.038229793310165405,
+      -0.029814202338457108
+     ],
+     "LWristOut": [
+      -0.00663209892809391,
+      0.014944351278245449,
+      -0.027240628376603127
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.031464409083127975,
+      0.011704509146511555,
+      0.02516831085085869
+     ],
+     "RHandOut": [
+      -0.014512179419398308,
+      0.05521479621529579,
+      0.013482339680194855
+     ],
+     "RWristOut": [
+      0.03992706537246704,
+      0.028404003009200096,
+      -0.0022331029176712036
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 4.69,
+   "p95_frame": 7.4
+  },
+  "worst_markers": [
+   "LKneeIn 13mm",
+   "LThigh 12mm",
+   "WaistRFront 10mm",
+   "RKneeIn 9mm",
+   "WaistLFront 9mm"
+  ],
+  "valid_fraction": 0.9948,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 11.4,
+    "p5": -1.3
+   },
+   "frames_checked": 586,
+   "stature_mm": 1700.1
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 13.76
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 44.47,
+    "Q_rotvec": [
+     0.62388,
+     0.08715,
+     0.45339
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 75.1,
+    "opposite_sign_bend_deg": 127.2,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 0.74,
+    "hand_vs_marker_frame_deg": {
+     "before": 44.5,
+     "after": 0.74
+    },
+    "markers_on_wrist": [
+     "LWristOut",
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 69.37,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -2.3,
+       2.1
+      ]
+     },
+     "wrist_total_deg_median_after": 30.8,
+     "markers_on_forearm": [
+      "LElbowIn",
+      "LForearm",
+      "LWristIn"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 93.13,
+    "Q_rotvec": [
+     1.52919,
+     0.22821,
+     -0.50146
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 102.5,
+    "opposite_sign_bend_deg": 95.7,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 1.01,
+    "hand_vs_marker_frame_deg": {
+     "before": 93.03,
+     "after": 1.01
+    },
+    "markers_on_wrist": [
+     "RWristOut",
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -99.25,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -1.0,
+       1.1
+      ]
+     },
+     "wrist_total_deg_median_after": 30.0,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-10-29T06:56:14.762753+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/locomanipulation/LM16/session_038",
+  "family": "locomanipulation",
+  "primitive": "LM16",
+  "source_session": "20261027/LM16/20261027_050141_session47"
+ },
+ "task": {
+  "primitive": "LM16",
+  "instruction": "Carry the loaded tray flat and level in both hands, walking back and forth across the room. Try not to let anything slide off."
+ },
+ "objects": [
+  {
+   "name": "LittleBox1",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "LittleBox2",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  }
+ ]
+}

actions/locomanipulation/LM16/session_038/motions/head_rig.npz

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+version https://git-lfs.github.com/spec/v1
+oid sha256:91e59463b83f6c2603400734a8d59601fd0a69bf13a47b5f2636ad029eff27e3
+size 1321262

actions/locomanipulation/LM16/session_038/motions/markers.npz

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+   "surface_rmse_mm_median": 13.24
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+     "markers_on_forearm": [
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+   "generated_at_utc": "2026-10-29T06:56:41.821985+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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+  "release_path": "actions/locomanipulation/LM16/session_039",
+  "family": "locomanipulation",
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+  "instruction": "Carry the loaded tray flat and level in both hands, walking back and forth across the room. Try not to let anything slide off."
+ },
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+   "object_type": "LittleBox",
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+ "generated_by": "scripts/export_objects.py",
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+  "status": "corrected",
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+  "declared": [
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+    "object": "LittleBox",
+    "source": "mocap",
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