Release update 2026-11-05: 5760 sessions, instructions, annotations (part 122)

.gitattributes

@@ -42338,3 +42338,18 @@ actions/human_human_locomanipulation/HH02/session_009/raw/sensors/robowrist_imu_
 actions/human_human_locomanipulation/HH02/session_009/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/human_human_locomanipulation/HH02/session_009/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/human_human_locomanipulation/HH02/session_009/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH03/session_020/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH03/session_020/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH03/session_020/raw/mocap/Body1.csv filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH03/session_020/raw/mocap/Body1.trc filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH03/session_020/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH03/session_020/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH03/session_020/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH03/session_020/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH03/session_020/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH03/session_020/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH03/session_020/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH03/session_021/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH03/session_021/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH03/session_021/raw/mocap/Body1.csv filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH03/session_021/raw/mocap/Body1.trc filter=lfs diff=lfs merge=lfs -text

actions/human_human_locomanipulation/HH03/session_020/cameras/poses.npz

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actions/human_human_locomanipulation/HH03/session_020/meta.json

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+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261027/HH03/20261027_070853_session4",
+ "session_id": "20261027_070853_session4",
+ "primitive": "HH03",
+ "batch": "20261027",
+ "participant": "gaoziyue",
+ "participant_source": "manifest",
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+  "right": "60a6f081bbe60b0d"
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+ "generated_by": "scripts/sync_dataset.py",
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+ "units": {
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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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+  "date": "2026-10-21"
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+   "solved_fraction": 0.9996,
+   "note": "second person (no ego cameras), Body1 of the same take, same time base as mocap.npz"
+  }
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+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
+ "rig_tracker": {
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+   "gyro_deg": 2.002
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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": {
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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)",
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+  "plane_status": "ok",
+  "floor": {
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+   "headtop_p95_mm": 1643.2
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+   "tilt_from_z_deg_before_levelling": 1.377,
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+  "rig_check": {
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 2.002
+  },
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz",
+   "mocap_body1_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-29T06:31:38.152696+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": {
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+  "marker_rmse_mm": {
+   "median_frame": 3.83,
+   "p95_frame": 5.53
+  },
+  "worst_markers": [
+   "LKneeIn 9mm",
+   "LKnee 8mm",
+   "LElbowIn 8mm",
+   "RKneeIn 7mm",
+   "RThigh 6mm"
+  ],
+  "valid_fraction": 0.9995,
+  "qc": {
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+    "p5": 13.7
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+   "frames_checked": 508,
+   "stature_mm": 1598.8
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+  "surface_term": {
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+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 11.09
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 33.97,
+    "Q_rotvec": [
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+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 62.5,
+    "opposite_sign_bend_deg": 133.3,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 9.54,
+    "hand_vs_marker_frame_deg": {
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+     "after": 9.54
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+    "markers_on_wrist": [
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+     "LHandOut"
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+    "forearm_twist": {
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+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
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+       4.7
+      ]
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+     "wrist_total_deg_median_after": 32.5,
+     "markers_on_forearm": [
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 85.55,
+    "Q_rotvec": [
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+     0.46115,
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+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 90.1,
+    "opposite_sign_bend_deg": 107.7,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 2.66,
+    "hand_vs_marker_frame_deg": {
+     "before": 85.62,
+     "after": 2.66
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -82.16,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -4.2,
+       5.6
+      ]
+     },
+     "wrist_total_deg_median_after": 35.5,
+     "markers_on_forearm": [
+      "RElbow",
+      "RElbowIn",
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-10-29T06:31:41.338857+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/human_human_locomanipulation/HH03/session_020",
+  "family": "human_human_locomanipulation",
+  "primitive": "HH03",
+  "source_session": "20261027/HH03/20261027_070853_session4"
+ },
+ "task": {
+  "primitive": "HH03",
+  "instruction": "You and your partner will both keep walking. Pass the object to them as you meet in the middle, without either of you stopping. Turn around at the ends and do it again. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+ },
+ "objects": [
+  {
+   "name": "LittleBox3",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "LittleBox6",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  }
+ ]
+}

actions/human_human_locomanipulation/HH03/session_020/motions/head_rig.npz

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actions/human_human_locomanipulation/HH03/session_020/motions/markers.npz

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+   "cameras_zup.npz",
+   "mocap_body1_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-29T06:32:00.910068+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": [
+      0.02851271443068981,
+      0.019500216469168663,
+      0.02854032814502716
+     ],
+     "LHandOut": [
+      0.036139115691185,
+      0.01609981246292591,
+      -0.026936814188957214
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.049569547176361084,
+      0.015625962987542152,
+      0.026103392243385315
+     ],
+     "RHandOut": [
+      -0.06030171364545822,
+      0.01552013773471117,
+      -0.02253279648721218
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 3.88,
+   "p95_frame": 5.82
+  },
+  "worst_markers": [
+   "LKneeIn 9mm",
+   "LElbowIn 9mm",
+   "LKnee 8mm",
+   "RHeel 8mm",
+   "RThigh 7mm"
+  ],
+  "valid_fraction": 1.0,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 17.8,
+    "p5": 5.9
+   },
+   "frames_checked": 520,
+   "stature_mm": 1598.8
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 12.73
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 24.57,
+    "Q_rotvec": [
+     0.01993,
+     -0.42637,
+     0.04048
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 53.8,
+    "opposite_sign_bend_deg": 157.2,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 5.11,
+    "hand_vs_marker_frame_deg": {
+     "before": 25.07,
+     "after": 5.11
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 31.18,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -5.8,
+       5.3
+      ]
+     },
+     "wrist_total_deg_median_after": 42.9,
+     "markers_on_forearm": [
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 29.85,
+    "Q_rotvec": [
+     0.07302,
+     0.50938,
+     -0.08165
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 70.4,
+    "opposite_sign_bend_deg": 136.7,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 3.2,
+    "hand_vs_marker_frame_deg": {
+     "before": 30.24,
+     "after": 3.2
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -50.83,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -6.2,
+       5.3
+      ]
+     },
+     "wrist_total_deg_median_after": 47.8,
+     "markers_on_forearm": [
+      "RElbow",
+      "RElbowIn",
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-10-29T06:32:04.039861+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/human_human_locomanipulation/HH03/session_021",
+  "family": "human_human_locomanipulation",
+  "primitive": "HH03",
+  "source_session": "20261027/HH03/20261027_071114_session5"
+ },
+ "task": {
+  "primitive": "HH03",
+  "instruction": "You and your partner will both keep walking. Pass the object to them as you meet in the middle, without either of you stopping. Turn around at the ends and do it again. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+ },
+ "objects": [
+  {
+   "name": "LittleBox3",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "LittleBox6",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  }
+ ]
+}

actions/human_human_locomanipulation/HH03/session_021/motions/head_rig.npz

@@ -0,0 +1,3 @@
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+size 1159977