Release update 2026-11-05: new sessions, instructions, annotations (part 76)

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+ "schema_version": 1,
+ "session": "EgoMotionActions/20261031/LH01/20261031_022021_session16",
+ "session_id": "20261031_022021_session16",
+ "primitive": "LH01",
+ "batch": "20261031",
+ "participant": "wangjingjing",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e3296774a321bb51",
+  "left": null,
+  "right": null
+ },
+ "generated_at_utc": "2026-11-03T05:49:12.127756+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,
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+  "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": -0.077788,
+  "rate": 0.0,
+  "global_lag_s": -0.08,
+  "peak_corr": 0.9908,
+  "reference_imu_first_sample_s": 4823.916175347,
+  "windows": {
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+   "window_corr_median": 0.9901285857322579,
+   "drift_ppm": 3.3392838922097448,
+   "drift_se_ppm": 2.9669688677813113,
+   "drift_ms_over_take": 0.5020613331937351,
+   "lag_scatter_ms": 0.4143146547208758,
+   "lag_range_ms": 1.4843252197742351
+  }
+ },
+ "units": {
+  "mocap": "millimetres, Nokov world, Y-up (unchanged)",
+  "y_up_to_z_up": [
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+    0.0,
+    0.0
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+   [
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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"
+ },
+ "calibration": {
+  "device": "e3296774a321bb51",
+  "status": "ok",
+  "date": "2026-10-21"
+ },
+ "streams": {
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+      "corr": 0.912,
+      "err_ms": 39.5
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+      "err_ms": 36.2
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+ },
+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
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+   "status": "gyro_rotation",
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+   "gyro_deg": 0.0,
+   "video_solve": {
+    "status": "ok",
+    "reason": "",
+    "reprojection_px": 3.002,
+    "n_assoc": 809,
+    "gyro_deg": 2.552
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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": "2026-11-03T09:17:58.480389+00:00",
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+  "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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+  "scale_nokov_to_canon": 0.001,
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+  "block": "20261031-morning",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.534535937746965,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 17.5,
+   "headtop_p95_mm": 1523.5
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+  "gravity_check": {
+   "static_samples": 3775,
+   "g_world_mean_m_s2": [
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+   "tilt_from_z_deg": 0.055,
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+   "gyro_deg": 0.0
+  },
+  "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": "2026-11-03T11:56:10.747395+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",
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+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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