Release update 2026-11-05: 5760 sessions, instructions, annotations (part 270)

actions/locomanipulation/LM07/session_007/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": "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": 125.866656,
+   "video": "left_eye",
+   "video_t_start": 0.04042828760638309
+  }
+ ],
+ "episodes": [
+  {
+   "id": "5144a559-f9ec-4637-b697-53c14c369b99",
+   "segment": "segment1",
+   "action": "LM07",
+   "quality": "valid",
+   "start_s": 2.081,
+   "end_s": 122.354,
+   "t_start": 2.1214,
+   "t_end": 122.3944,
+   "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_007/cameras/gsi_online_calibration.json

@@ -0,0 +1,211 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.367
+ },
+ "cameras": {
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+   "against": [
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+    "right_front",
+    "left_eye",
+    "right_eye"
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+    "right_front",
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+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
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+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
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+ "input_fingerprint": "78e4079aed7daa2e",
+ "kind": "online_calibration",
+ "output_sha256": "e91bb7df0fe8f340caa54ab8a8b0e5c5ecd1b88ecd80845e02a01bdd11d60254",
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+  "left_front": 46.209,
+  "right": 51.19,
+  "right_eye": 48.782,
+  "right_front": 43.31
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+ "runtime": {
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+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
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+ "version": 1
+}

actions/locomanipulation/LM07/session_007/cameras/slam.npz

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actions/locomanipulation/LM07/session_007/meta.json

@@ -277,44 +277,44 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
  "canonical": {
-  "generated_at_utc": "2026-10-27T06:43:10.614591+00:00",
+  "generated_at_utc": "2026-10-28T23:22:18.465926+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)",
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@@ -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": 27.6,
-   "headtop_p95_mm": 1652.5
+   "sole_marker_p1_mm": 27.4,
+   "headtop_p95_mm": 1652.4
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   "gravity_check": {
    "static_samples": 481,
    "g_world_mean_m_s2": [
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-    9.7842
+    -0.0198,
+    -0.1962,
+    9.7843
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+   "tilt_from_z_deg": 1.155,
    "tilt_from_z_deg_before_levelling": 1.354,
    "magnitude_m_s2": 9.7863
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@@ -358,7 +358,7 @@
   ]
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+  "generated_at_utc": "2026-10-29T05:03:00.645774+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": {
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@@ -411,7 +411,7 @@
   "valid_fraction": 1.0,
   "qc": {
    "lowest_vertex_mm": {
-    "median": 13.3,
+    "median": 13.1,
     "p5": 10.5
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@@ -427,19 +427,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
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+    "Q_deg": 15.38,
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+     0.21243
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-    "opposite_sign_bend_deg": 43.3,
+    "wrist_bend_deg_median": 28.1,
+    "opposite_sign_bend_deg": 158.3,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 3.95,
     "hand_vs_marker_frame_deg": {
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+     "before": 15.79,
      "after": 3.95
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     "markers_on_wrist": [
@@ -447,15 +447,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
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+      "median": -0.01,
       "iqr": [
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+       -6.7,
+       3.1
       ]
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+     "wrist_total_deg_median_after": 22.7,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -466,19 +466,19 @@
    },
    "right": {
     "status": "corrected",
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+     0.08077
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-    "opposite_sign_bend_deg": 172.3,
+    "wrist_bend_deg_median": 100.9,
+    "opposite_sign_bend_deg": 94.2,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 3.78,
     "hand_vs_marker_frame_deg": {
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+     "before": 89.17,
      "after": 3.78
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     "markers_on_wrist": [
@@ -486,7 +486,7 @@
      "RHandOut"
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     "forearm_twist": {
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      "wrist_twist_deg_after": {
       "median": 0.0,
       "iqr": [
@@ -505,14 +505,128 @@
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     "frames_used": 1500
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-   "generated_at_utc": "2026-10-28T06:50:39.309835+00:00",
+   "generated_at_utc": "2026-10-29T05:03:03.796667+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
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+    "dev_deg": {
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+     "p90": 45.55
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+    "samples": 3323,
+    "accepted": 2624,
+    "wrist_pos_err_mm_median": 32.0,
+    "per_camera": {
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+      "samples": 3323,
+      "accepted": 2624,
+      "gate_deg": 30.0,
+      "offset_deg": 14.46,
+      "tier": "primary",
+      "dev_deg_median": 17.58,
+      "wrist_pos_err_mm_median": 32.0
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+     "interpolated": 3812,
+     "mean_hand": 548,
+     "no_body_fit": 0
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+    "observed_fraction_of_valid": 0.9637,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 20.81,
+     "smplx": 1.53
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
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+      "p90": 15.2
+     },
+     "registered": {
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+      "p90": 13.4
+     }
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+    "offset_rotvec": [
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+     0.003
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+    "per_camera": {
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+      "tier": "primary",
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+     "smplx": 3.51
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+    "hand_marker_to_mesh_mm": {
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+     "registered": {
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+      "p90": 21.2
+     }
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+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:31:40.567273+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_007",
   "family": "locomanipulation",
   "primitive": "LM07",
   "source_session": "20261026/LM07/20261026_061848_session22"
+ },
+ "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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