Mayur1092 commited on
Commit
86f3f34
·
verified ·
1 Parent(s): a8f47f1

Release update 2026-11-05: new sessions, instructions, annotations (part 347)

Browse files
actions/locomanipulation/LM35/session_020/motions/smplx.npz CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:ea246396209fd1cf1b39318579bbff9404c32eaa6d53f8e0d6889c08a72e106f
3
- size 6422293
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:735a1b5199e0a60117606451c864085cc8f5b7cc2533beb19127cd6a68035bcf
3
+ size 9740984
actions/locomanipulation/LM35/session_021/annotations.json ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "source": "vendor annotation.json (schema 2, revision 1)",
4
+ "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",
5
+ "primitive": "LM35",
6
+ "instruction": "Carry the box and, while walking, shift it to a different hold: front, then hip, then shoulder, then back to front. Do not stop walking.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 128.966533,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.03959355331111136
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "a94d7844-bc4e-4774-9691-1a71871fded4",
18
+ "segment": "segment1",
19
+ "action": "LM35",
20
+ "quality": "valid",
21
+ "start_s": 1.344,
22
+ "end_s": 121.844,
23
+ "t_start": 1.3836,
24
+ "t_end": 121.8836,
25
+ "instruction": "Carry the box and, while walking, shift it to a different hold: front, then hip, then shoulder, then back to front. Do not stop walking."
26
+ }
27
+ ]
28
+ }
actions/locomanipulation/LM35/session_021/cameras/gsi_online_calibration.json ADDED
@@ -0,0 +1,255 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "camera_fit": {
3
+ "groups_dropped": [],
4
+ "groups_used": 14,
5
+ "median_px": 0.414
6
+ },
7
+ "cameras": {
8
+ "left": {
9
+ "accepted": true,
10
+ "against": [
11
+ "left_front",
12
+ "right_front",
13
+ "left_eye",
14
+ "right_eye"
15
+ ],
16
+ "delta_deg": 1.1151,
17
+ "gate_fail": [],
18
+ "held_out_px_after": 0.562,
19
+ "held_out_px_before": 5.679,
20
+ "inliers": 1626,
21
+ "position_fitted": false,
22
+ "rotvec_deg": [
23
+ -0.0779,
24
+ -0.4447,
25
+ -1.0196
26
+ ],
27
+ "split_deg": 0.0606,
28
+ "usable": true
29
+ },
30
+ "left_eye": {
31
+ "accepted": true,
32
+ "against": [
33
+ "left_front",
34
+ "right_front",
35
+ "right_eye",
36
+ "left",
37
+ "right"
38
+ ],
39
+ "delta_deg": 2.5719,
40
+ "gate_fail": [],
41
+ "held_out_px_after": 0.444,
42
+ "held_out_px_before": 7.699,
43
+ "inliers": 2113,
44
+ "position_fitted": true,
45
+ "position_mm": [
46
+ 7.44,
47
+ -17.94,
48
+ 1.69
49
+ ],
50
+ "position_sigma_mm": 0.183,
51
+ "position_split_mm": 1.704,
52
+ "rotvec_deg": [
53
+ -0.1597,
54
+ 0.8078,
55
+ -2.4365
56
+ ],
57
+ "split_deg": 0.0207,
58
+ "usable": true
59
+ },
60
+ "left_front": {
61
+ "role": "rig origin"
62
+ },
63
+ "right": {
64
+ "accepted": true,
65
+ "against": [
66
+ "left_front",
67
+ "right_front",
68
+ "left_eye",
69
+ "right_eye"
70
+ ],
71
+ "delta_deg": 1.6361,
72
+ "gate_fail": [],
73
+ "held_out_px_after": 0.71,
74
+ "held_out_px_before": 6.099,
75
+ "inliers": 885,
76
+ "position_fitted": false,
77
+ "rotvec_deg": [
78
+ 1.4488,
79
+ -0.4177,
80
+ -0.6349
81
+ ],
82
+ "split_deg": 0.1635,
83
+ "usable": true
84
+ },
85
+ "right_eye": {
86
+ "accepted": true,
87
+ "against": [
88
+ "left_front",
89
+ "right_front",
90
+ "left_eye",
91
+ "left",
92
+ "right"
93
+ ],
94
+ "delta_deg": 1.1583,
95
+ "gate_fail": [],
96
+ "held_out_px_after": 0.384,
97
+ "held_out_px_before": 3.498,
98
+ "inliers": 2191,
99
+ "position_fitted": true,
100
+ "position_mm": [
101
+ 6.45,
102
+ -21.29,
103
+ 3.07
104
+ ],
105
+ "position_sigma_mm": 0.201,
106
+ "position_split_mm": 0.841,
107
+ "rotvec_deg": [
108
+ 0.1636,
109
+ -0.2744,
110
+ -1.1134
111
+ ],
112
+ "split_deg": 0.0399,
113
+ "usable": true
114
+ },
115
+ "right_front": {
116
+ "accepted": true,
117
+ "against": [
118
+ "left_front",
119
+ "left_eye",
120
+ "right_eye",
121
+ "left",
122
+ "right"
123
+ ],
124
+ "delta_deg": 2.1746,
125
+ "gate_fail": [],
126
+ "held_out_px_after": 0.384,
127
+ "held_out_px_before": 5.998,
128
+ "inliers": 2653,
129
+ "position_fitted": false,
130
+ "rotvec_deg": [
131
+ -0.276,
132
+ -0.047,
133
+ -2.1565
134
+ ],
135
+ "split_deg": 0.0248,
136
+ "usable": true
137
+ }
138
+ },
139
+ "code_fingerprint": "711ecf5b3dd408f8",
140
+ "device_id": "e17c9efadb69e7b1",
141
+ "factory_root_name": "e17c9efadb69e7b1",
142
+ "files": {
143
+ "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
144
+ "sha256": "ba123c15790738a3d801480165f0c79a604391d91312aebf287f79df5e5687c0",
145
+ "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
146
+ },
147
+ "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
148
+ "sha256": "bb236b1dd7cea5d66c491b9561fa51096cb22924583503ba87a4b539ee9cd935",
149
+ "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
150
+ },
151
+ "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
152
+ "sha256": "62fcfc68b8264e7d8f46bf694f016951d48c55316b0d89ca597736a27c7503e5",
153
+ "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
154
+ },
155
+ "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
156
+ "sha256": "382cd50c34b95723a7308c080c091aa15aac80dcde1e5b781ee6c81d9bd7d45b",
157
+ "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
158
+ }
159
+ },
160
+ "input_fingerprint": "c476015db03c58eb",
161
+ "kind": "online_calibration",
162
+ "output_sha256": "74b2d8c8df3be4226daac8b41d7ecdb951894773d1f3d0b2444bfedd40790b48",
163
+ "overlap": {
164
+ "left-right": 0.501,
165
+ "left_eye-left": 0.707,
166
+ "left_eye-right": 0.671,
167
+ "left_front-left": 0.478,
168
+ "left_front-left_eye": 0.72,
169
+ "left_front-right": 0.448,
170
+ "left_front-right_eye": 0.732,
171
+ "left_front-right_front": 1.0,
172
+ "right_eye-left": 0.696,
173
+ "right_eye-left_eye": 1.0,
174
+ "right_eye-right": 0.673,
175
+ "right_front-left": 0.464,
176
+ "right_front-left_eye": 0.723,
177
+ "right_front-right": 0.466,
178
+ "right_front-right_eye": 0.734
179
+ },
180
+ "picture_change": {
181
+ "left": 40.842,
182
+ "left_eye": 47.232,
183
+ "left_front": 45.568,
184
+ "right": 47.474,
185
+ "right_eye": 46.42,
186
+ "right_front": 43.873
187
+ },
188
+ "runtime": {
189
+ "numpy": "2.4.6",
190
+ "opencv": "5.0.0",
191
+ "scipy": "1.17.1"
192
+ },
193
+ "segment": 1,
194
+ "selection": {
195
+ "overlap_captures": [
196
+ 14479058987000,
197
+ 14480058987000,
198
+ 14482058964777,
199
+ 14483058953666,
200
+ 14488058964777,
201
+ 14489059020333,
202
+ 14490058953666,
203
+ 14491058953666,
204
+ 14496058998111,
205
+ 14497058987000,
206
+ 14498058964777,
207
+ 14499058964777,
208
+ 14503058975888,
209
+ 14504058975888,
210
+ 14507058987000,
211
+ 14508059031444,
212
+ 14512058964777,
213
+ 14513059020333,
214
+ 14514058975888,
215
+ 14515058953666,
216
+ 14521058953666,
217
+ 14522058998111,
218
+ 14523058987000,
219
+ 14526059109222,
220
+ 14527058953666,
221
+ 14533058998111,
222
+ 14534058953666,
223
+ 14535058953666,
224
+ 14541058975888,
225
+ 14542058953666,
226
+ 14543058998111,
227
+ 14544058964777,
228
+ 14549058987000,
229
+ 14550058964777,
230
+ 14551059109222,
231
+ 14557058964777,
232
+ 14558058975888,
233
+ 14560059120333,
234
+ 14561058975888,
235
+ 14566058953666,
236
+ 14567058987000,
237
+ 14568058998111,
238
+ 14569058987000,
239
+ 14573058975888,
240
+ 14574058964777,
241
+ 14577059042555,
242
+ 14578058987000,
243
+ 14579059109222,
244
+ 14580058998111,
245
+ 14586058987000,
246
+ 14587058964777,
247
+ 14588059142555,
248
+ 14592058964777,
249
+ 14593058987000,
250
+ 14598059131444,
251
+ 14599058964777
252
+ ]
253
+ },
254
+ "version": 1
255
+ }
actions/locomanipulation/LM35/session_021/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a7d37688ee51ab6024092a3fc2741197db1dde208d7aca45e03f99497db8ff28
3
+ size 743705
actions/locomanipulation/LM35/session_021/meta.json CHANGED
@@ -364,8 +364,8 @@
364
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
365
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
366
  "hands": {
367
- "observed": false,
368
- "hand_pose": "flat (zeros, flat_hand_mean=True)",
369
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
370
  "hand_marker_offsets_m": {
371
  "left": {
@@ -664,12 +664,126 @@
664
  },
665
  "applied": 11
666
  },
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
667
  "release": {
668
  "release_path": "actions/locomanipulation/LM35/session_021",
669
  "family": "locomanipulation",
670
  "primitive": "LM35",
671
  "source_session": "20261013/LM35/20261013_042357_session70"
672
  },
 
 
 
 
673
  "objects": [
674
  {
675
  "name": "BigBox",
 
364
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
365
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
366
  "hands": {
367
+ "observed": true,
368
+ "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
369
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
370
  "hand_marker_offsets_m": {
371
  "left": {
 
664
  },
665
  "applied": 11
666
  },
667
+ "hands_registration": {
668
+ "cameras": {},
669
+ "hands": {
670
+ "left": {
671
+ "offset_deg": 23.39,
672
+ "offset_rotvec": [
673
+ 0.3621,
674
+ 0.1198,
675
+ 0.1455
676
+ ],
677
+ "dev_deg": {
678
+ "median": 19.02,
679
+ "p90": 52.51
680
+ },
681
+ "samples": 3176,
682
+ "accepted": 2309,
683
+ "wrist_pos_err_mm_median": 31.7,
684
+ "per_camera": {
685
+ "head": {
686
+ "samples": 3176,
687
+ "accepted": 2309,
688
+ "gate_deg": 30.0,
689
+ "offset_deg": 23.39,
690
+ "tier": "primary",
691
+ "dev_deg_median": 19.02,
692
+ "wrist_pos_err_mm_median": 31.7
693
+ }
694
+ },
695
+ "frames_by_state": {
696
+ "ace_sample": 9250,
697
+ "interpolated": 2138,
698
+ "mean_hand": 4096,
699
+ "no_body_fit": 0
700
+ },
701
+ "observed_fraction": 0.7355,
702
+ "observed_fraction_of_valid": 0.7355,
703
+ "palm_axis_vs_markers_deg": {
704
+ "gsi": 21.19,
705
+ "smplx": 1.82
706
+ },
707
+ "hand_marker_to_mesh_mm": {
708
+ "flat": {
709
+ "median": 14.1,
710
+ "p90": 15.6
711
+ },
712
+ "registered": {
713
+ "median": 12.3,
714
+ "p90": 13.6
715
+ }
716
+ }
717
+ },
718
+ "right": {
719
+ "offset_deg": 40.15,
720
+ "offset_rotvec": [
721
+ 0.6918,
722
+ -0.0617,
723
+ -0.0931
724
+ ],
725
+ "dev_deg": {
726
+ "median": 35.43,
727
+ "p90": 127.18
728
+ },
729
+ "samples": 2756,
730
+ "accepted": 1080,
731
+ "wrist_pos_err_mm_median": 67.4,
732
+ "per_camera": {
733
+ "head": {
734
+ "samples": 2756,
735
+ "accepted": 1080,
736
+ "gate_deg": 30.0,
737
+ "offset_deg": 40.15,
738
+ "tier": "primary",
739
+ "dev_deg_median": 35.43,
740
+ "wrist_pos_err_mm_median": 67.4
741
+ }
742
+ },
743
+ "frames_by_state": {
744
+ "ace_sample": 4352,
745
+ "interpolated": 1804,
746
+ "mean_hand": 9328,
747
+ "no_body_fit": 0
748
+ },
749
+ "observed_fraction": 0.3976,
750
+ "observed_fraction_of_valid": 0.3976,
751
+ "palm_axis_vs_markers_deg": {
752
+ "gsi": 41.7,
753
+ "smplx": NaN
754
+ },
755
+ "hand_marker_to_mesh_mm": {
756
+ "flat": {
757
+ "median": NaN,
758
+ "p90": NaN
759
+ },
760
+ "registered": {
761
+ "median": NaN,
762
+ "p90": NaN
763
+ }
764
+ }
765
+ }
766
+ },
767
+ "max_dev_deg": 30.0,
768
+ "max_gap_s": 1.0,
769
+ "cameras_used": [
770
+ "head"
771
+ ],
772
+ "generated_at_utc": "2026-11-03T22:08:42.313943+00:00",
773
+ "generated_by": "scripts/register_hands_smplx.py",
774
+ "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",
775
+ "wrist_flip_suspect": []
776
+ },
777
  "release": {
778
  "release_path": "actions/locomanipulation/LM35/session_021",
779
  "family": "locomanipulation",
780
  "primitive": "LM35",
781
  "source_session": "20261013/LM35/20261013_042357_session70"
782
  },
783
+ "task": {
784
+ "primitive": "LM35",
785
+ "instruction": "Carry the box and, while walking, shift it to a different hold: front, then hip, then shoulder, then back to front. Do not stop walking."
786
+ },
787
  "objects": [
788
  {
789
  "name": "BigBox",
actions/locomanipulation/LM35/session_021/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3c957ef9fb1945d1111316a20c0736713f9914600969bc2703be2e694bcc1f34
3
+ size 4072519
actions/locomanipulation/LM35/session_021/motions/smplx.npz CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:887050f1915eb66a054b6225d9f23d772994d85ac241c4686261b9c3bd01988e
3
- size 5962531
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:19639f33730306a1a6d75f9b4034190a98ae0ebfc4ed46bcf0116dff729beb7d
3
+ size 9300830
actions/locomanipulation/LM35/session_022/annotations.json ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "source": "vendor annotation.json (schema 2, revision 1)",
4
+ "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",
5
+ "primitive": "LM35",
6
+ "instruction": "Carry the box and, while walking, shift it to a different hold: front, then hip, then shoulder, then back to front. Do not stop walking.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 138.966622,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.03969055361456064
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "22860bbb-c0a4-405a-bbf7-b74ba5d0c877",
18
+ "segment": "segment1",
19
+ "action": "LM35",
20
+ "quality": "valid",
21
+ "start_s": 1.195,
22
+ "end_s": 132.161,
23
+ "t_start": 1.2347,
24
+ "t_end": 132.2007,
25
+ "instruction": "Carry the box and, while walking, shift it to a different hold: front, then hip, then shoulder, then back to front. Do not stop walking."
26
+ }
27
+ ]
28
+ }
actions/locomanipulation/LM35/session_022/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1df43c0bdc40ff3d00f2330ed2363177769986109443644e880bbe72124df3f4
3
+ size 799793
actions/locomanipulation/LM35/session_022/meta.json CHANGED
@@ -344,8 +344,8 @@
344
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
345
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
346
  "hands": {
347
- "observed": false,
348
- "hand_pose": "flat (zeros, flat_hand_mean=True)",
349
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
350
  "hand_marker_offsets_m": {
351
  "left": {
@@ -484,12 +484,126 @@
484
  "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
485
  }
486
  },
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
487
  "release": {
488
  "release_path": "actions/locomanipulation/LM35/session_022",
489
  "family": "locomanipulation",
490
  "primitive": "LM35",
491
  "source_session": "20261014/LM35/20261014_015847_session22"
492
  },
 
 
 
 
493
  "objects": [
494
  {
495
  "name": "BigBox1",
 
344
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
345
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
346
  "hands": {
347
+ "observed": true,
348
+ "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
349
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
350
  "hand_marker_offsets_m": {
351
  "left": {
 
484
  "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
485
  }
486
  },
487
+ "hands_registration": {
488
+ "cameras": {},
489
+ "hands": {
490
+ "left": {
491
+ "offset_deg": 14.14,
492
+ "offset_rotvec": [
493
+ 0.2305,
494
+ -0.0641,
495
+ 0.0608
496
+ ],
497
+ "dev_deg": {
498
+ "median": 16.5,
499
+ "p90": 38.79
500
+ },
501
+ "samples": 2923,
502
+ "accepted": 2384,
503
+ "wrist_pos_err_mm_median": 118.9,
504
+ "per_camera": {
505
+ "head": {
506
+ "samples": 2923,
507
+ "accepted": 2384,
508
+ "gate_deg": 30.0,
509
+ "offset_deg": 14.14,
510
+ "tier": "primary",
511
+ "dev_deg_median": 16.5,
512
+ "wrist_pos_err_mm_median": 118.9
513
+ }
514
+ },
515
+ "frames_by_state": {
516
+ "ace_sample": 9737,
517
+ "interpolated": 3470,
518
+ "mean_hand": 3469,
519
+ "no_body_fit": 8
520
+ },
521
+ "observed_fraction": 0.7916,
522
+ "observed_fraction_of_valid": 0.792,
523
+ "palm_axis_vs_markers_deg": {
524
+ "gsi": 22.71,
525
+ "smplx": 1.21
526
+ },
527
+ "hand_marker_to_mesh_mm": {
528
+ "flat": {
529
+ "median": 5.8,
530
+ "p90": 8.4
531
+ },
532
+ "registered": {
533
+ "median": 6.1,
534
+ "p90": 8.9
535
+ }
536
+ }
537
+ },
538
+ "right": {
539
+ "offset_deg": 22.6,
540
+ "offset_rotvec": [
541
+ 0.294,
542
+ 0.0926,
543
+ -0.2462
544
+ ],
545
+ "dev_deg": {
546
+ "median": 21.79,
547
+ "p90": 161.16
548
+ },
549
+ "samples": 3075,
550
+ "accepted": 1827,
551
+ "wrist_pos_err_mm_median": 87.1,
552
+ "per_camera": {
553
+ "head": {
554
+ "samples": 3075,
555
+ "accepted": 1827,
556
+ "gate_deg": 30.0,
557
+ "offset_deg": 22.6,
558
+ "tier": "primary",
559
+ "dev_deg_median": 21.79,
560
+ "wrist_pos_err_mm_median": 87.1
561
+ }
562
+ },
563
+ "frames_by_state": {
564
+ "ace_sample": 7299,
565
+ "interpolated": 676,
566
+ "mean_hand": 8701,
567
+ "no_body_fit": 8
568
+ },
569
+ "observed_fraction": 0.478,
570
+ "observed_fraction_of_valid": 0.4782,
571
+ "palm_axis_vs_markers_deg": {
572
+ "gsi": 26.49,
573
+ "smplx": 2.42
574
+ },
575
+ "hand_marker_to_mesh_mm": {
576
+ "flat": {
577
+ "median": 6.8,
578
+ "p90": 10.3
579
+ },
580
+ "registered": {
581
+ "median": 6.0,
582
+ "p90": 9.4
583
+ }
584
+ }
585
+ }
586
+ },
587
+ "max_dev_deg": 30.0,
588
+ "max_gap_s": 1.0,
589
+ "cameras_used": [
590
+ "head"
591
+ ],
592
+ "generated_at_utc": "2026-11-03T21:55:27.344125+00:00",
593
+ "generated_by": "scripts/register_hands_smplx.py",
594
+ "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",
595
+ "wrist_flip_suspect": []
596
+ },
597
  "release": {
598
  "release_path": "actions/locomanipulation/LM35/session_022",
599
  "family": "locomanipulation",
600
  "primitive": "LM35",
601
  "source_session": "20261014/LM35/20261014_015847_session22"
602
  },
603
+ "task": {
604
+ "primitive": "LM35",
605
+ "instruction": "Carry the box and, while walking, shift it to a different hold: front, then hip, then shoulder, then back to front. Do not stop walking."
606
+ },
607
  "objects": [
608
  {
609
  "name": "BigBox1",