Release update 2026-11-05: 5760 sessions, instructions, annotations (part 255)

.gitattributes

@@ -43435,3 +43435,5 @@ actions/locomanipulation/LM05/session_031/raw/sensors/robowrist_imu_left.db filt
 actions/locomanipulation/LM05/session_031/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM05/session_031/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM05/session_031/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM06/session_013/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM06/session_013/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text

actions/locomanipulation/LM06/session_012/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": "LM06",
+ "instruction": "Take an object from the waist-height shelf, carry it across the room, and place it on the highest shelf you can comfortably reach. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 127.766733,
+   "video": "left_eye",
+   "video_t_start": 0.04000170137552603
+  }
+ ],
+ "episodes": [
+  {
+   "id": "89f4a517-2323-47f8-849c-0f08e275c399",
+   "segment": "segment1",
+   "action": "LM06",
+   "quality": "valid",
+   "start_s": 1.608,
+   "end_s": 124.325,
+   "t_start": 1.648,
+   "t_end": 124.365,
+   "instruction": "Take an object from the waist-height shelf, carry it across the room, and place it on the highest shelf you can comfortably reach. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}

actions/locomanipulation/LM06/session_012/cameras/gsi_online_calibration.json

@@ -0,0 +1,256 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.403
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
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+    "right_front",
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+    "right_eye"
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+    -1.4424
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+   "split_deg": 0.0273,
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+    "right_eye",
+    "left",
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+   "held_out_px_after": 0.428,
+   "held_out_px_before": 8.974,
+   "inliers": 3715,
+   "position_fitted": true,
+   "position_mm": [
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+    -28.22,
+    -3.41
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+   "position_split_mm": 0.547,
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+    -0.7837,
+    1.3335
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+   "split_deg": 0.0306,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
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+    "right_front",
+    "left_eye",
+    "right_eye"
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+    3.2083
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+   "usable": true
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+    -21.75,
+    0.1
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+    -1.3886,
+    1.9204
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+    "left_eye",
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+    "left",
+    "right"
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+   "delta_deg": 0.5718,
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+    0.2576,
+    -0.427,
+    -0.2797
+   ],
+   "split_deg": 0.0227,
+   "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": "5d25929ced3fdad9745fe3d99639b3f3422b88f94332ba61321d966fb0f02a3a",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "8bad349834e2bb6ca1b2d156868a7a38bb729fea8403adfe05da8b04bfa1ed45",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
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+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
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+  }
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+ "input_fingerprint": "9aec42950c258f67",
+ "kind": "online_calibration",
+ "output_sha256": "61dace2bf81ba508af81d85e78951bdef1c0448cea146a15afaf1b1b82b915a5",
+ "overlap": {
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+  "left_eye-right": 0.702,
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+  "left_front-left_eye": 0.692,
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+  "left_front-right_front": 1.0,
+  "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": 50.255,
+  "left_front": 61.098,
+  "right": 48.559,
+  "right_eye": 50.774,
+  "right_front": 57.263
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
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+ "version": 1
+}

actions/locomanipulation/LM06/session_012/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b34648374b4391684ea58d3f0f5089448b03faaa73258204e363fcde64bbb8c3
+size 737216

actions/locomanipulation/LM06/session_012/meta.json

@@ -277,44 +277,44 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
  "canonical": {
-  "generated_at_utc": "2026-10-27T06:43:10.470255+00:00",
+  "generated_at_utc": "2026-10-28T23:22:18.497145+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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-    -0.0013630091
+    -0.0116640585,
+    0.9999316716,
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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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     0.0
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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": 27.3,
-   "headtop_p95_mm": 1647.8
+   "sole_marker_p1_mm": 27.2,
+   "headtop_p95_mm": 1647.6
   },
   "gravity_check": {
    "static_samples": 300,
    "g_world_mean_m_s2": [
-    0.0979,
-    -0.1912,
-    9.7623
+    0.0978,
+    -0.1854,
+    9.7624
    ],
-   "tilt_from_z_deg": 1.26,
+   "tilt_from_z_deg": 1.23,
    "tilt_from_z_deg_before_levelling": 1.048,
    "magnitude_m_s2": 9.7647
   },
@@ -358,7 +358,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-27T08:00:28.855535+00:00",
+  "generated_at_utc": "2026-10-29T05:02:02.379194+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": 1.0,
   "qc": {
    "lowest_vertex_mm": {
-    "median": 6.5,
-    "p5": 0.7
+    "median": 6.4,
+    "p5": 0.6
    },
    "frames_checked": 512,
    "stature_mm": 1614.2
@@ -427,19 +427,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 180.0,
+    "Q_deg": 21.94,
     "Q_rotvec": [
-     -2.98662,
-     0.4392,
-     0.86995
+     0.23239,
+     -0.17485,
+     0.24907
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 173.6,
-    "opposite_sign_bend_deg": 40.1,
+    "wrist_bend_deg_median": 50.6,
+    "opposite_sign_bend_deg": 140.1,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 3.58,
     "hand_vs_marker_frame_deg": {
-     "before": 179.47,
+     "before": 22.35,
      "after": 3.58
     },
     "markers_on_wrist": [
@@ -447,15 +447,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -170.5,
+     "twist_moved_deg": 47.55,
      "wrist_twist_deg_after": {
-      "median": -4.64,
+      "median": 0.0,
       "iqr": [
-       -10.2,
-       -0.7
+       -5.5,
+       4.0
       ]
      },
-     "wrist_total_deg_median_after": 19.2,
+     "wrist_total_deg_median_after": 18.3,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -466,19 +466,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 0.0,
+    "Q_deg": 30.65,
     "Q_rotvec": [
-     0.0,
-     0.0,
-     -0.0
+     0.47699,
+     0.24041,
+     -0.02946
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 30.4,
-    "opposite_sign_bend_deg": 170.1,
+    "wrist_bend_deg_median": 73.4,
+    "opposite_sign_bend_deg": 122.9,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 3.1,
     "hand_vs_marker_frame_deg": {
-     "before": 3.1,
+     "before": 30.77,
      "after": 3.1
     },
     "markers_on_wrist": [
@@ -486,11 +486,11 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -0.08,
+     "twist_moved_deg": -67.3,
      "wrist_twist_deg_after": {
-      "median": 0.0,
+      "median": -0.08,
       "iqr": [
-       -11.8,
+       -11.9,
        10.9
       ]
      },
@@ -505,14 +505,128 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-28T06:50:38.889734+00:00",
+   "generated_at_utc": "2026-10-29T05:02:05.327356+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 14.56,
+    "offset_rotvec": [
+     0.2528,
+     0.0242,
+     -0.0085
+    ],
+    "dev_deg": {
+     "median": 16.07,
+     "p90": 33.61
+    },
+    "samples": 3572,
+    "accepted": 3077,
+    "wrist_pos_err_mm_median": 27.9,
+    "per_camera": {
+     "head": {
+      "samples": 3572,
+      "accepted": 3077,
+      "gate_deg": 30.0,
+      "offset_deg": 14.56,
+      "tier": "primary",
+      "dev_deg_median": 16.07,
+      "wrist_pos_err_mm_median": 27.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12462,
+     "interpolated": 2402,
+     "mean_hand": 476,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.969,
+    "observed_fraction_of_valid": 0.969,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 19.8,
+     "smplx": 1.38
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.1,
+      "p90": 12.6
+     },
+     "registered": {
+      "median": 8.7,
+      "p90": 10.9
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 16.73,
+    "offset_rotvec": [
+     0.2883,
+     -0.0251,
+     0.0389
+    ],
+    "dev_deg": {
+     "median": 13.95,
+     "p90": 26.76
+    },
+    "samples": 3547,
+    "accepted": 3300,
+    "wrist_pos_err_mm_median": 70.4,
+    "per_camera": {
+     "head": {
+      "samples": 3547,
+      "accepted": 3300,
+      "gate_deg": 30.0,
+      "offset_deg": 16.73,
+      "tier": "primary",
+      "dev_deg_median": 13.95,
+      "wrist_pos_err_mm_median": 70.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13340,
+     "interpolated": 1812,
+     "mean_hand": 188,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9877,
+    "observed_fraction_of_valid": 0.9877,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 20.38,
+     "smplx": 2.95
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 4.4,
+      "p90": 6.7
+     },
+     "registered": {
+      "median": 11.7,
+      "p90": 16.0
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:31:34.702640+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/LM06/session_012",
   "family": "locomanipulation",
   "primitive": "LM06",
   "source_session": "20261026/LM06/20261026_061622_session21"
+ },
+ "task": {
+  "primitive": "LM06",
+  "instruction": "Take an object from the waist-height shelf, carry it across the room, and place it on the highest shelf you can comfortably reach. Keep going until the operator says stop; one object at a time, and do not rush between trips."
  }
 }

actions/locomanipulation/LM06/session_012/motions/hands_mano.npz

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+  "family": "locomanipulation",
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+ "generated_by": "scripts/export_objects.py",
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+ "grid": "body grid (smplx.npz t / frame_index)",
+ "held_by": "from mocap hands",
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