Release update 2026-11-05: new sessions, instructions, annotations (part 356)

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+ },
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   {
    "name": "BigBox2",

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+    "t_end": 127.74018648994759,
+    "clock": "device",
+    "calibrated": true
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+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 15240.435456,
+    "frames": 3837,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": -0.948182876942085,
+    "t_end": 126.91815812305875,
+    "clock": "device",
+    "calibrated": false
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+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 15240.476136,
+    "frames": 3836,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": -0.9075028769420193,
+    "t_end": 126.92472412305877,
+    "clock": "device",
+    "calibrated": false
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+   "third_person": {
+    "file": "mocap/mocap-LM35-S04-wangjingjing-01p1-1.mp4",
+    "frames": 3833,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 127.73333333333333
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+  }
+ },
+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
+ "rig_tracker": {
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+  "R_tracker0_imu0": [
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+    0.37195654,
+    -0.65191944
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+   [
+    0.73057377,
+    0.11960776,
+    -0.67227669
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+   [
+    -0.17208309,
+    -0.92051198,
+    -0.35077785
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+  "p_tracker0_imu0_m": [
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+   -0.005735091182155126,
+   -0.12236676671517484
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+  "rig_check": {
+   "gyro_samples": 4826,
+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 2.101
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-28T23:23:37.619601+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": 29.4,
+   "headtop_p95_mm": 1514.1
+  },
+  "gravity_check": {
+   "static_samples": 675,
+   "g_world_mean_m_s2": [
+    -0.0051,
+    0.0783,
+    9.6974
+   ],
+   "tilt_from_z_deg": 0.463,
+   "tilt_from_z_deg_before_levelling": 0.27,
+   "magnitude_m_s2": 9.6977
+  },
+  "rig_tracker_definition": "c9205ac6e17d2d5c/20261027-morning/labels-230415/session-78978bcb6ea460a3",
+  "rig_check": {
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 2.101
+  },
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-29T09:21:59.011801+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": {
+     "LHandIn": [
+      0.051782626658678055,
+      0.022621411830186844,
+      0.008659197948873043
+     ],
+     "LHandOut": [
+      0.032040804624557495,
+      0.018114406615495682,
+      -0.04008396714925766
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.03552453964948654,
+      0.015103335492312908,
+      -0.022189710289239883
+     ],
+     "RHandOut": [
+      -0.03897995874285698,
+      0.022932959720492363,
+      0.016406990587711334
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 6.67,
+   "p95_frame": 12.44
+  },
+  "worst_markers": [
+   "LWristIn 24mm",
+   "RForearm 18mm",
+   "LElbowIn 18mm",
+   "RElbowIn 17mm",
+   "LWristOut 15mm"
+  ],
+  "valid_fraction": 0.9949,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 14.0,
+    "p5": 6.3
+   },
+   "frames_checked": 509,
+   "stature_mm": 1502.4
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 13.24
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 23.46,
+    "Q_rotvec": [
+     0.11987,
+     0.11014,
+     0.37568
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 37.9,
+    "opposite_sign_bend_deg": 167.9,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 3.99,
+    "hand_vs_marker_frame_deg": {
+     "before": 22.62,
+     "after": 3.99
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 6.47,
+     "wrist_twist_deg_after": {
+      "median": 0.01,
+      "iqr": [
+       -13.3,
+       10.1
+      ]
+     },
+     "wrist_total_deg_median_after": 40.2,
+     "markers_on_forearm": [
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 172.89,
+    "Q_rotvec": [
+     2.95511,
+     -0.11653,
+     0.59901
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 169.3,
+    "opposite_sign_bend_deg": 45.8,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 4.44,
+    "hand_vs_marker_frame_deg": {
+     "before": 174.26,
+     "after": 4.44
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -164.53,
+     "wrist_twist_deg_after": {
+      "median": -5.28,
+      "iqr": [
+       -12.3,
+       3.7
+      ]
+     },
+     "wrist_total_deg_median_after": 41.0,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1307
+   },
+   "generated_at_utc": "2026-10-29T09:22:02.139664+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "marker_relabel": {
+  "generated_at_utc": "2026-10-29T08:52:31.033468+00:00",
+  "generated_by": "scripts/relabel_marker_swaps.py",
+  "margin_s": 0.75,
+  "sides": {
+   "left": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 2879,
+    "frames_flipped": 0,
+    "stretches": []
+   },
+   "right": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 2162,
+    "frames_flipped": 788,
+    "stretches": [
+     {
+      "t0": 1.7,
+      "t1": 9.78,
+      "dur_s": 8.08,
+      "marker_turn_deg": 111.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 112.9,
+      "err_swapped_deg": 4.6,
+      "calib_err_deg": 5.7,
+      "applied": true
+     },
+     {
+      "t0": 31.2,
+      "t1": 33.87,
+      "dur_s": 2.67,
+      "marker_turn_deg": 90.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 90.3,
+      "err_swapped_deg": 8.1,
+      "calib_err_deg": 5.7,
+      "applied": true
+     },
+     {
+      "t0": 67.0,
+      "t1": 67.77,
+      "dur_s": 0.77,
+      "marker_turn_deg": 31.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 123.7,
+      "err_swapped_deg": 64.6,
+      "calib_err_deg": 5.7,
+      "applied": false
+     },
+     {
+      "t0": 72.37,
+      "t1": 77.75,
+      "dur_s": 5.38,
+      "marker_turn_deg": 102.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 142.5,
+      "err_swapped_deg": 5.1,
+      "calib_err_deg": 5.7,
+      "applied": true
+     },
+     {
+      "t0": 88.65,
+      "t1": 106.13,
+      "dur_s": 17.48,
+      "marker_turn_deg": 165.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 109.0,
+      "err_swapped_deg": 7.9,
+      "calib_err_deg": 5.7,
+      "applied": true
+     },
+     {
+      "t0": 106.23,
+      "t1": 107.1,
+      "dur_s": 0.87,
+      "marker_turn_deg": 73.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 107.8,
+      "err_swapped_deg": 20.0,
+      "calib_err_deg": 5.7,
+      "applied": true
+     },
+     {
+      "t0": 118.13,
+      "t1": 121.62,
+      "dur_s": 3.48,
+      "marker_turn_deg": 66.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 92.1,
+      "err_swapped_deg": 13.5,
+      "calib_err_deg": 5.7,
+      "applied": true
+     }
+    ]
+   }
+  },
+  "applied": 6
+ },
+ "release": {
+  "release_path": "actions/locomanipulation/LM35/session_037",
+  "family": "locomanipulation",
+  "primitive": "LM35",
+  "source_session": "20261027/LM35/20261027_044012_session58"
+ },
+ "task": {
+  "primitive": "LM35",
+  "instruction": "Carry the box and, while walking, shift it to a different hold: front, then hip, then shoulder, then back to front. Do not stop walking."
+ },
+ "objects": [
+  {
+   "name": "BigBox2",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
+}