Release update 2026-11-05: 5760 sessions, instructions, annotations (part 272)

actions/locomanipulation/LM07/session_010/annotations.json

@@ -0,0 +1,116 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 3)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "LM07",
+ "instruction": "Take an object down from the highest shelf you can comfortably reach, carry it across, and place it on the waist-height shelf. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 121.866689,
+   "video": "left_eye",
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+  }
+ ],
+ "episodes": [
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+  },
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+   "t_end": 20.6816,
+   "instruction": "Take an object down from the highest shelf you can comfortably reach, carry it across, and place it on the waist-height shelf. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  },
+  {
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+   "instruction": "Take an object down from the highest shelf you can comfortably reach, carry it across, and place it on the waist-height shelf. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  },
+  {
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+   "end_s": 61.487,
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+   "instruction": "Take an object down from the highest shelf you can comfortably reach, carry it across, and place it on the waist-height shelf. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  },
+  {
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+   "segment": "segment1",
+   "action": "LM07",
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+   "end_s": 71.757,
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+   "instruction": "Take an object down from the highest shelf you can comfortably reach, carry it across, and place it on the waist-height shelf. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  },
+  {
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+   "segment": "segment1",
+   "action": "LM07",
+   "quality": "valid",
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+   "end_s": 80.092,
+   "t_start": 73.7906,
+   "t_end": 80.1316,
+   "instruction": "Take an object down from the highest shelf you can comfortably reach, carry it across, and place it on the waist-height shelf. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  },
+  {
+   "id": "1aa7ad06-7da8-4fdc-9936-8f81815a5dea",
+   "segment": "segment1",
+   "action": "LM07",
+   "quality": "valid",
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+   "t_end": 89.1316,
+   "instruction": "Take an object down from the highest shelf you can comfortably reach, carry it across, and place it on the waist-height shelf. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  },
+  {
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+   "segment": "segment1",
+   "action": "LM07",
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+   "t_start": 90.3016,
+   "t_end": 98.2456,
+   "instruction": "Take an object down from the highest shelf you can comfortably reach, carry it across, and place it on the waist-height shelf. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  },
+  {
+   "id": "c29fcee7-173a-455d-a4b1-540db54066c6",
+   "segment": "segment1",
+   "action": "LM07",
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+   "instruction": "Take an object down from the highest shelf you can comfortably reach, carry it across, and place it on the waist-height shelf. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}

actions/locomanipulation/LM07/session_010/cameras/gsi_online_calibration.json

@@ -0,0 +1,254 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.406
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
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+    "right_front",
+    "left_eye",
+    "right_eye"
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+   "delta_deg": 1.8718,
+   "gate_fail": [],
+   "held_out_px_after": 0.461,
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+   "inliers": 1693,
+   "position_fitted": false,
+   "rotvec_deg": [
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+    -0.3089,
+    -1.4399
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+   "split_deg": 0.038,
+   "usable": true
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+  "left_eye": {
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+   "against": [
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+    "right_front",
+    "right_eye",
+    "left",
+    "right"
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+   "delta_deg": 2.0393,
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+   "held_out_px_after": 0.607,
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+   "inliers": 2536,
+   "position_fitted": true,
+   "position_mm": [
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+    -26.15,
+    -4.75
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+   "position_split_mm": 3.188,
+   "rotvec_deg": [
+    1.3911,
+    -0.647,
+    1.3435
+   ],
+   "split_deg": 0.1963,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+   "delta_deg": 4.0631,
+   "gate_fail": [],
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+   "inliers": 1300,
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+    -1.681,
+    3.06
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+   "split_deg": 0.277,
+   "usable": true
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+  "right_eye": {
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+    "right_front",
+    "left_eye",
+    "left",
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+   "position_mm": [
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+    -1.08
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+   "split_deg": 0.0514,
+   "usable": true
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+  "right_front": {
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+   "against": [
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+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+    -0.4005,
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+   "split_deg": 0.0382,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
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+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
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+  }
+ },
+ "input_fingerprint": "bc87d143f33dac88",
+ "kind": "online_calibration",
+ "output_sha256": "7ce92d0b34960a6dd83292f2ccabb9f3868007b619b15440340b3faeeaf4c4e7",
+ "overlap": {
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+  "right_eye-left": 0.699,
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+  "right_front-left_eye": 0.697,
+  "right_front-right": 0.464,
+  "right_front-right_eye": 0.704
+ },
+ "picture_change": {
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+  "left_eye": 51.261,
+  "left_front": 56.861,
+  "right": 46.856,
+  "right_eye": 50.988,
+  "right_front": 55.516
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
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+ "selection": {
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+ },
+ "version": 1
+}

actions/locomanipulation/LM07/session_010/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b161b4a949333ae06e861c551450c5fac3e3b0ac5765cd4310192e939be1e683
+size 703044

actions/locomanipulation/LM07/session_010/meta.json

@@ -277,44 +277,44 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
  "canonical": {
-  "generated_at_utc": "2026-10-27T06:43:11.205333+00:00",
+  "generated_at_utc": "2026-10-28T23:22:21.527583+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": [
    [
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-    0.0116771196,
-    -7.9583e-06
+    0.9999319725,
+    0.0116640585,
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-    -0.0013630091
+    -0.0116640585,
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    ]
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   "scale_nokov_to_canon": 0.001,
   "T_canon_nokov_mm": [
    [
-    0.00099993182,
-    1.167712e-05,
-    -7.958e-09,
+    0.000999931973,
+    1.1664059e-05,
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     0.0
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     0.0
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    [
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-    -1.363009e-06,
+    -1.1664059e-05,
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+    -7.75769e-07,
     0.0
    ],
    [
@@ -326,20 +326,20 @@
   ],
   "block": "20261026-morning",
   "block_assignment": "trc",
-  "tilt_removed_deg": 0.6736075582400546,
+  "tilt_removed_deg": 0.6697930607742368,
   "plane_status": "ok",
   "floor": {
-   "sole_marker_p1_mm": 27.4,
+   "sole_marker_p1_mm": 27.2,
    "headtop_p95_mm": 1653.4
   },
   "gravity_check": {
    "static_samples": 620,
    "g_world_mean_m_s2": [
-    -0.0127,
-    -0.2205,
-    9.7669
+    -0.0128,
+    -0.2148,
+    9.767
    ],
-   "tilt_from_z_deg": 1.295,
+   "tilt_from_z_deg": 1.262,
    "tilt_from_z_deg_before_levelling": 1.425,
    "magnitude_m_s2": 9.7694
   },
@@ -358,7 +358,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-27T08:03:43.052680+00:00",
+  "generated_at_utc": "2026-10-29T05:05:48.193604+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -367,8 +367,8 @@
   "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)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -411,8 +411,8 @@
   "valid_fraction": 0.9997,
   "qc": {
    "lowest_vertex_mm": {
-    "median": 12.2,
-    "p5": 10.0
+    "median": 12.0,
+    "p5": 9.9
    },
    "frames_checked": 488,
    "stature_mm": 1614.2
@@ -427,19 +427,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 180.0,
+    "Q_deg": 18.83,
     "Q_rotvec": [
-     -2.98662,
-     0.4392,
-     0.86995
+     -0.23195,
+     0.01901,
+     0.23202
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 172.3,
-    "opposite_sign_bend_deg": 43.8,
+    "wrist_bend_deg_median": 41.4,
+    "opposite_sign_bend_deg": 153.0,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.24,
     "hand_vs_marker_frame_deg": {
-     "before": 179.33,
+     "before": 19.06,
      "after": 2.24
     },
     "markers_on_wrist": [
@@ -447,15 +447,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -170.92,
+     "twist_moved_deg": 36.42,
      "wrist_twist_deg_after": {
-      "median": -1.96,
+      "median": 0.02,
       "iqr": [
-       -6.4,
-       0.9
+       -4.4,
+       2.9
       ]
      },
-     "wrist_total_deg_median_after": 21.9,
+     "wrist_total_deg_median_after": 21.7,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -466,19 +466,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 0.0,
+    "Q_deg": 82.62,
     "Q_rotvec": [
-     0.0,
-     0.0,
-     -0.0
+     1.42808,
+     0.18709,
+     0.07152
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 26.8,
-    "opposite_sign_bend_deg": 173.0,
+    "wrist_bend_deg_median": 94.1,
+    "opposite_sign_bend_deg": 99.2,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.98,
     "hand_vs_marker_frame_deg": {
-     "before": 2.98,
+     "before": 82.58,
      "after": 2.98
     },
     "markers_on_wrist": [
@@ -486,9 +486,9 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -0.02,
+     "twist_moved_deg": -90.21,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": -0.02,
       "iqr": [
        -5.2,
        5.9
@@ -505,14 +505,128 @@
     },
     "frames_used": 1463
    },
-   "generated_at_utc": "2026-10-28T06:50:40.561655+00:00",
+   "generated_at_utc": "2026-10-29T05:05:51.233950+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 17.92,
+    "offset_rotvec": [
+     0.3092,
+     -0.0469,
+     -0.0005
+    ],
+    "dev_deg": {
+     "median": 16.46,
+     "p90": 40.19
+    },
+    "samples": 3234,
+    "accepted": 2619,
+    "wrist_pos_err_mm_median": 37.7,
+    "per_camera": {
+     "head": {
+      "samples": 3234,
+      "accepted": 2619,
+      "gate_deg": 30.0,
+      "offset_deg": 17.92,
+      "tier": "primary",
+      "dev_deg_median": 16.46,
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+     }
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+    "observed_fraction_of_valid": 0.9374,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 1.42
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
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+      "p90": 10.9
+     },
+     "registered": {
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+     }
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+    ],
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+     "p90": 29.26
+    },
+    "samples": 3288,
+    "accepted": 2988,
+    "wrist_pos_err_mm_median": 74.9,
+    "per_camera": {
+     "head": {
+      "samples": 3288,
+      "accepted": 2988,
+      "gate_deg": 30.0,
+      "offset_deg": 23.42,
+      "tier": "primary",
+      "dev_deg_median": 15.07,
+      "wrist_pos_err_mm_median": 74.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12196,
+     "interpolated": 2312,
+     "mean_hand": 120,
+     "no_body_fit": 4
+    },
+    "observed_fraction": 0.9915,
+    "observed_fraction_of_valid": 0.9918,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 26.67,
+     "smplx": 2.72
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.5,
+      "p90": 11.3
+     },
+     "registered": {
+      "median": 16.2,
+      "p90": 19.1
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:31:29.643512+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomanipulation/LM07/session_010",
   "family": "locomanipulation",
   "primitive": "LM07",
   "source_session": "20261026/LM07/20261026_062613_session25"
+ },
+ "task": {
+  "primitive": "LM07",
+  "instruction": "Take an object down from the highest shelf you can comfortably reach, carry it across, and place it on the waist-height shelf. Keep going until the operator says stop; one object at a time, and do not rush between trips."
  }
 }

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