Release update 2026-11-05: 5760 sessions, instructions, annotations (part 240)

.gitattributes

@@ -43315,3 +43315,6 @@ actions/locomanipulation/LM04/session_028/raw/sensors/robowrist_imu_left.db filt
 actions/locomanipulation/LM04/session_028/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM04/session_028/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM04/session_028/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM05/session_019/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM05/session_019/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM05/session_019/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text

actions/locomanipulation/LM05/session_018/annotations.json

@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "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": "LM05",
+ "instruction": "Move objects one at a time from the waist-height shelf at one end of the room to the waist-height shelf at the other end. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 150.1,
+   "video": "left_eye",
+   "video_t_start": 0.03992249535496027
+  }
+ ],
+ "episodes": [
+  {
+   "id": "f4b89d62-2de9-474b-8beb-bca2c01027bc",
+   "segment": "segment1",
+   "action": "LM05",
+   "quality": "valid",
+   "start_s": 4.646,
+   "end_s": 147.511,
+   "t_start": 4.6859,
+   "t_end": 147.5509,
+   "instruction": "Move objects one at a time from the waist-height shelf at one end of the room to the waist-height shelf at the other end. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}

actions/locomanipulation/LM05/session_018/cameras/gsi_online_calibration.json

@@ -0,0 +1,256 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.444
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
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+    "right_front",
+    "left_eye",
+    "right_eye"
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+   "gate_fail": [],
+   "held_out_px_after": 0.687,
+   "held_out_px_before": 20.133,
+   "inliers": 1917,
+   "position_fitted": false,
+   "rotvec_deg": [
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+    -0.1198,
+    -1.5151
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+   "split_deg": 0.1766,
+   "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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+   "held_out_px_before": 7.71,
+   "inliers": 3712,
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+   "position_mm": [
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+    -24.79,
+    -2.64
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+   "position_split_mm": 1.506,
+   "rotvec_deg": [
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+    -0.6653,
+    1.2299
+   ],
+   "split_deg": 0.0774,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
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+  "right": {
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+   "against": [
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+    "right_front",
+    "left_eye",
+    "right_eye"
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+    -1.29,
+    3.3481
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+   "usable": true
+  },
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+    "left_eye",
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+    1.9385
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+   "split_deg": 0.1357,
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+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+   "delta_deg": 0.5675,
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+   "held_out_px_before": 2.767,
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+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2539,
+    -0.4198,
+    -0.2852
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+   "split_deg": 0.0523,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "f139be6622059dfde3cd2e2039bd2e87a2588689ccdd3ba1fc657c702ccc87ec",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "5a4434852947a8adc511846a9a866d424c6c231590503eb2afe6cbbeead0db1e",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "8f69c8a7afbab5b5eb5a3dbc0e22547bd4c3cd02f554d60f47da852ceb2e63db",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "e05dd45c8b2d632f8f0ff002f3c202501dc7e3b549027684d6d0cda5da412bf1",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "724a085574027d8f",
+ "kind": "online_calibration",
+ "output_sha256": "b8e07224062e970b4b7de89b52ca09fe26a59fa3199b0185bbaee8a983c3436a",
+ "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": 46.694,
+  "left_front": 54.972,
+  "right": 43.239,
+  "right_eye": 45.581,
+  "right_front": 50.102
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
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+ "version": 1
+}

actions/locomanipulation/LM05/session_018/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c29f3f3ed13e30c8975fb6b713d341abfda9d8289ac930f230dbf099712277ab
+size 864702

actions/locomanipulation/LM05/session_018/meta.json

@@ -263,44 +263,44 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
  "canonical": {
-  "generated_at_utc": "2026-10-27T06:43:10.218874+00:00",
+  "generated_at_utc": "2026-10-28T23:22:18.521813+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": [
    [
-    0.9999318201,
-    0.0116771196,
-    -7.9583e-06
+    0.9999319725,
+    0.0116640585,
+    -4.5245e-06
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-    0.9999308912,
-    -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,
+    -4.524e-09,
     0.0
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-    -1.363009e-06,
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     0.0
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     0.0
    ],
    [
@@ -312,20 +312,20 @@
   ],
   "block": "20261026-morning",
   "block_assignment": "trc",
-  "tilt_removed_deg": 0.6736075582400546,
+  "tilt_removed_deg": 0.6697930607742368,
   "plane_status": "ok",
   "floor": {
-   "sole_marker_p1_mm": 26.9,
-   "headtop_p95_mm": 1653.8
+   "sole_marker_p1_mm": 27.0,
+   "headtop_p95_mm": 1653.6
   },
   "gravity_check": {
    "static_samples": 1055,
    "g_world_mean_m_s2": [
-    -0.0587,
-    -0.172,
-    9.7585
+    -0.0588,
+    -0.1663,
+    9.7586
    ],
-   "tilt_from_z_deg": 1.067,
+   "tilt_from_z_deg": 1.035,
    "tilt_from_z_deg_before_levelling": 1.377,
    "magnitude_m_s2": 9.7602
   },
@@ -344,7 +344,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-27T20:54:24.833770+00:00",
+  "generated_at_utc": "2026-10-29T05:01:32.196817+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -353,8 +353,8 @@
   "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": {
@@ -398,7 +398,7 @@
   "qc": {
    "lowest_vertex_mm": {
     "median": 15.3,
-    "p5": 11.2
+    "p5": 11.0
    },
    "frames_checked": 601,
    "stature_mm": 1614.2
@@ -413,19 +413,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 0.0,
+    "Q_deg": 13.26,
     "Q_rotvec": [
-     0.0,
-     -0.0,
-     0.0
+     -0.05825,
+     -0.12725,
+     0.18435
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 17.3,
-    "opposite_sign_bend_deg": 172.1,
+    "wrist_bend_deg_median": 23.4,
+    "opposite_sign_bend_deg": 166.0,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.25,
     "hand_vs_marker_frame_deg": {
-     "before": 2.26,
+     "before": 13.92,
      "after": 2.25
     },
     "markers_on_wrist": [
@@ -433,7 +433,7 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 0.0,
+     "twist_moved_deg": 15.5,
      "wrist_twist_deg_after": {
       "median": 0.0,
       "iqr": [
@@ -453,19 +453,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 0.0,
+    "Q_deg": 6.59,
     "Q_rotvec": [
-     0.0,
-     0.0,
-     -0.0
+     -0.04193,
+     0.05931,
+     -0.08919
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 34.4,
-    "opposite_sign_bend_deg": 159.7,
+    "wrist_bend_deg_median": 35.3,
+    "opposite_sign_bend_deg": 158.5,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 4.12,
     "hand_vs_marker_frame_deg": {
-     "before": 4.12,
+     "before": 8.67,
      "after": 4.12
     },
     "markers_on_wrist": [
@@ -473,9 +473,9 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -0.0,
+     "twist_moved_deg": -5.46,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": 0.0,
       "iqr": [
        -20.6,
        14.6
@@ -491,7 +491,7 @@
     },
     "frames_used": 1472
    },
-   "generated_at_utc": "2026-10-28T06:50:37.932707+00:00",
+   "generated_at_utc": "2026-10-29T05:01:36.103427+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -543,12 +543,126 @@
   },
   "applied": 1
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 21.66,
+    "offset_rotvec": [
+     0.3538,
+     -0.1054,
+     0.0815
+    ],
+    "dev_deg": {
+     "median": 17.51,
+     "p90": 34.46
+    },
+    "samples": 4225,
+    "accepted": 3619,
+    "wrist_pos_err_mm_median": 33.0,
+    "per_camera": {
+     "head": {
+      "samples": 4225,
+      "accepted": 3619,
+      "gate_deg": 30.0,
+      "offset_deg": 21.66,
+      "tier": "primary",
+      "dev_deg_median": 17.51,
+      "wrist_pos_err_mm_median": 33.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14660,
+     "interpolated": 2612,
+     "mean_hand": 744,
+     "no_body_fit": 4
+    },
+    "observed_fraction": 0.9585,
+    "observed_fraction_of_valid": 0.9587,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 22.34,
+     "smplx": 1.35
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.9,
+      "p90": 8.5
+     },
+     "registered": {
+      "median": 6.5,
+      "p90": 8.7
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 38.7,
+    "offset_rotvec": [
+     0.6123,
+     0.2541,
+     -0.1297
+    ],
+    "dev_deg": {
+     "median": 27.73,
+     "p90": 71.72
+    },
+    "samples": 4276,
+    "accepted": 2380,
+    "wrist_pos_err_mm_median": 40.8,
+    "per_camera": {
+     "head": {
+      "samples": 4276,
+      "accepted": 2380,
+      "gate_deg": 30.0,
+      "offset_deg": 38.7,
+      "tier": "primary",
+      "dev_deg_median": 27.73,
+      "wrist_pos_err_mm_median": 40.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9664,
+     "interpolated": 3416,
+     "mean_hand": 4936,
+     "no_body_fit": 4
+    },
+    "observed_fraction": 0.7259,
+    "observed_fraction_of_valid": 0.726,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 34.11,
+     "smplx": 3.19
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.4,
+      "p90": 8.2
+     },
+     "registered": {
+      "median": 6.4,
+      "p90": 8.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:31:40.923461+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/LM05/session_018",
   "family": "locomanipulation",
   "primitive": "LM05",
   "source_session": "20261026/LM05/20261026_051730_session6"
  },
+ "task": {
+  "primitive": "LM05",
+  "instruction": "Move objects one at a time from the waist-height shelf at one end of the room to the waist-height shelf at the other end. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+ },
  "objects": [
   {
    "name": "BigBox",
@@ -562,12 +676,6 @@
    "source": "mocap",
    "pose_frame": "rigid_body"
   },
-  {
-   "name": "Cushion",
-   "object_type": "Cushion",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
-  },
   {
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