Release update 2026-11-05: new sessions, instructions, annotations (part 199)

.gitattributes

@@ -44862,3 +44862,6 @@ actions/locomanipulation/LM24/session_028/raw/sensors/robocap_imu_left.db filter
 actions/locomanipulation/LM24/session_028/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM24/session_028/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM24/session_028/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM24/session_028/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM24/session_028/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM24/session_028/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/locomanipulation/LM24/session_028/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e0f7d174c71229515c53d971989d46d649a6bf44e204d32f1c90f4d4ef850a4
+size 1339392

actions/locomanipulation/LM24/session_028/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0891cbf0ae1c97f5c5cc7981f368639b6d5acbb4bd9118525dc71b6adf158a5d
+size 344064

actions/locomanipulation/LM24/session_028/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edfa58ef7f43598a7b791aecd2152167b8a8ef2bfe9cce3add9dc4f3ab53632a
+size 344064

actions/locomanipulation/LM24/session_028/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4762a68e4b6579e1ae2dfbb90bab3263461192d14f639624c3163d0e377e75ae
+size 1423311

actions/locomanipulation/LM24/session_028/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d985c3c90a7be8f65677ec96457373750a602925c96ee5ec6d005670429a39d
+size 165352

actions/locomanipulation/LM24/session_028/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45bf3a1dbe8776d7c8c63301f0dae6da7dae40be794bab9264ef29125db1d1c0
+size 1470891

actions/locomanipulation/LM24/session_028/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:decb7dae995e1c425032bdfcf2b1cbd6ab3e8c252f8e9c6a5973b7d15d3491f6
+size 297958

actions/locomanipulation/LM24/session_028/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed8bdcb85c4f8119090997b31ee840cbb4121ef619e55e31197be1177f2cdc0e
+size 267162

actions/locomanipulation/LM24/session_028/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ac87bfa85a6d778e1a6f304644a9f93fac2e39724a7df6758c2f1ef5f13dae0
+size 66658843

actions/locomanipulation/LM24/session_028/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:917c783c0c79def1d71781b940d96854b46c722032b58a5f226d3ef910e1881e
+size 66105522

actions/locomanipulation/LM24/session_028/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2dc1310a36cb07feb33d64ab29ec002388c74a913bed120cc126e96dc06683d
+size 66685360

actions/locomanipulation/LM24/session_028/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f16454b344090bfe2e1fb932587bba9240b15331a202cc914d2969355b3b9e9
+size 66727281

actions/locomanipulation/LM24/session_028/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d3948151a17397e974fd081795afdb1df4a3635b07124ff2cf2936d62c8a0ff
+size 66587618

actions/locomanipulation/LM24/session_028/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e2f4c095c252b729134e1a21ab7942606dbbf946de01005596e624422f736f3
+size 66724771

actions/locomanipulation/LM24/session_028/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e5bc8ae044618ac74e1c231ca53aa351ed3c5e087be03f562ecdbc82ca09fa0
+size 69066808

actions/locomanipulation/LM24/session_028/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e608e810e788a16f57be36d5514fc169422b2a438a950d1f35db120893bef778
+size 58015006

actions/locomanipulation/LM24/session_028/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f672e2e525bed51fce21aa11821755f2f411e334c55db36a2f311a555d6be484
+size 55719917

actions/locomanipulation/LM25/session_001/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": "LM25",
+ "instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 128.966556,
+   "video": "left_eye",
+   "video_t_start": 0.03939849500639503
+  }
+ ],
+ "episodes": [
+  {
+   "id": "2fcfa704-1143-4754-821b-6dfee651b454",
+   "segment": "segment1",
+   "action": "LM25",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 122.434,
+   "t_start": 0.0394,
+   "t_end": 122.4734,
+   "instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down."
+  }
+ ]
+}

actions/locomanipulation/LM25/session_001/cameras/gsi_online_calibration.json

@@ -0,0 +1,269 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 167,
+    "median_px": 6.61,
+    "pair": [
+     "right_eye",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 13,
+  "median_px": 0.335
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.8431,
+   "gate_fail": [],
+   "held_out_px_after": 0.446,
+   "held_out_px_before": 2.246,
+   "inliers": 4435,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.6108,
+    -0.3101,
+    -0.4914
+   ],
+   "split_deg": 0.094,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.7364,
+   "gate_fail": [],
+   "held_out_px_after": 0.327,
+   "held_out_px_before": 6.823,
+   "inliers": 6359,
+   "position_fitted": false,
+   "position_rejected": {
+    "position_mm": [
+     0.01,
+     -14.95,
+     4.57
+    ],
+    "position_sigma_mm": 0.478,
+    "position_split_mm": 10.791
+   },
+   "rotvec_deg": [
+    0.4848,
+    0.633,
+    -1.5425
+   ],
+   "split_deg": 0.0636,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye"
+   ],
+   "delta_deg": 1.183,
+   "gate_fail": [],
+   "held_out_px_after": 0.501,
+   "held_out_px_before": 3.37,
+   "inliers": 443,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.0341,
+    -0.2857,
+    0.4984
+   ],
+   "split_deg": 0.2808,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left"
+   ],
+   "delta_deg": 0.7902,
+   "gate_fail": [],
+   "held_out_px_after": 0.319,
+   "held_out_px_before": 2.221,
+   "inliers": 6639,
+   "position_fitted": false,
+   "position_rejected": {
+    "position_mm": [
+     5.34,
+     -14.58,
+     1.64
+    ],
+    "position_sigma_mm": 0.276,
+    "position_split_mm": 13.612
+   },
+   "rotvec_deg": [
+    0.6282,
+    -0.4294,
+    -0.2131
+   ],
+   "split_deg": 0.0742,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0722,
+   "gate_fail": [],
+   "held_out_px_after": 0.32,
+   "held_out_px_before": 4.439,
+   "inliers": 3761,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3848,
+    -0.0875,
+    -0.997
+   ],
+   "split_deg": 0.0083,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "4e052b6b9293ee8f9d8eafc21da05c7661bdcd039e45e485e86248ad296a25dc",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "6869f319aff05bf1a88e6d62145fa2400d2594bfe62020d4d492a0ae5f7e535f",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "dc535932fb4d43fcbf02fb0324169fea9886651902ed112c5b04a62a9dd168c3",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "617c9c9c259850a8d56abcf731f77b7ca5bc406955f2e59ba0d817ac1dfaf695",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "80d4951eaa1832e2",
+ "kind": "online_calibration",
+ "output_sha256": "ac6cb1a84152c38462b79645a5bc0d6afcf3921df9bc979b3dc985c1119f2cc7",
+ "overlap": {
+  "left-right": 0.501,
+  "left_eye-left": 0.707,
+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 39.793,
+  "left_eye": 38.237,
+  "left_front": 45.751,
+  "right": 41.209,
+  "right_eye": 37.082,
+  "right_front": 41.777
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   15577483518000,
+   15578483518000,
+   15580483518000,
+   15581483529111,
+   15584483518000,
+   15585483518000,
+   15588483518000,
+   15589483529111,
+   15592483518000,
+   15593483529111,
+   15596483529111,
+   15597483506888,
+   15600483518000,
+   15601483518000,
+   15604483518000,
+   15605483529111,
+   15606483506888,
+   15607483529111,
+   15611483529111,
+   15612483518000,
+   15616483540222,
+   15617483518000,
+   15622483484666,
+   15623483518000,
+   15625483518000,
+   15626483506888,
+   15627483518000,
+   15628483518000,
+   15632483506888,
+   15633483518000,
+   15635483518000,
+   15636483518000,
+   15641483518000,
+   15642483518000,
+   15645483529111,
+   15646483518000,
+   15649483518000,
+   15650483518000,
+   15655483506888,
+   15656483629111,
+   15657483518000,
+   15658483506888,
+   15660483518000,
+   15661483518000,
+   15664483518000,
+   15665483506888,
+   15670483506888,
+   15671483518000,
+   15673483518000,
+   15674483573555,
+   15679483529111,
+   15680483518000,
+   15682483518000,
+   15683483529111,
+   15687483506888,
+   15688483484666,
+   15689483506888,
+   15692483518000,
+   15693483506888
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM25/session_001/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0aa8ead1f32c1713d681f4218f9a0734d226f2206dedd488cb9ea57a353ecec3
+size 740821

actions/locomanipulation/LM25/session_001/meta.json

@@ -328,8 +328,8 @@
   "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": {
@@ -508,10 +508,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.8378404732633236
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 20.7,
+    "offset_rotvec": [
+     0.161,
+     -0.3089,
+     -0.0958
+    ],
+    "dev_deg": {
+     "median": 22.4,
+     "p90": 42.48
+    },
+    "samples": 1769,
+    "accepted": 1193,
+    "wrist_pos_err_mm_median": 82.2,
+    "per_camera": {
+     "head": {
+      "samples": 1769,
+      "accepted": 1193,
+      "gate_deg": 30.0,
+      "offset_deg": 20.7,
+      "tier": "primary",
+      "dev_deg_median": 22.4,
+      "wrist_pos_err_mm_median": 82.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 4816,
+     "interpolated": 1620,
+     "mean_hand": 9048,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.4157,
+    "observed_fraction_of_valid": 0.4157,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 32.39,
+     "smplx": 3.68
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.3,
+      "p90": 11.7
+     },
+     "registered": {
+      "median": 10.1,
+      "p90": 12.7
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 12.6,
+    "offset_rotvec": [
+     0.1093,
+     0.1899,
+     0.0175
+    ],
+    "dev_deg": {
+     "median": 8.31,
+     "p90": 23.12
+    },
+    "samples": 3739,
+    "accepted": 3606,
+    "wrist_pos_err_mm_median": 40.8,
+    "per_camera": {
+     "head": {
+      "samples": 3739,
+      "accepted": 3606,
+      "gate_deg": 30.0,
+      "offset_deg": 12.6,
+      "tier": "primary",
+      "dev_deg_median": 8.31,
+      "wrist_pos_err_mm_median": 40.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14462,
+     "interpolated": 650,
+     "mean_hand": 372,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.976,
+    "observed_fraction_of_valid": 0.976,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 14.56,
+     "smplx": 1.4
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 4.8,
+      "p90": 6.4
+     },
+     "registered": {
+      "median": 4.5,
+      "p90": 6.2
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T16:19:27.322145+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/LM25/session_001",
   "family": "locomanipulation",
   "primitive": "LM25",
   "source_session": "20260910/LM25/20260910_044410_session86"
+ },
+ "task": {
+  "primitive": "LM25",
+  "instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down."
  }
 }

actions/locomanipulation/LM25/session_001/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c546478455bedc91cfa3df44e4ba03a028cb5835ff7b8291c9d15842b1c6eb91
+size 3799446

actions/locomanipulation/LM25/session_001/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c2394a153ed6e9f9ddea2adc2eb1072f5d5af0710e47e1c64a0fa58c306d1e20
-size 5957433
+oid sha256:75e6a6f2ce44a0ab592d4717f2259262268f5a006671747b44947c8584498b69
+size 9777308

actions/locomanipulation/LM25/session_002/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": "LM25",
+ "instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 108.966567,
+   "video": "left_eye",
+   "video_t_start": 0.039095877052646166
+  }
+ ],
+ "episodes": [
+  {
+   "id": "fffeebe8-85f5-431d-a112-f4252c5859b9",
+   "segment": "segment1",
+   "action": "LM25",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 104.384,
+   "t_start": 0.0391,
+   "t_end": 104.4231,
+   "instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down."
+  }
+ ]
+}

actions/locomanipulation/LM25/session_002/cameras/gsi_online_calibration.json

@@ -0,0 +1,255 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.342
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.8447,
+   "gate_fail": [],
+   "held_out_px_after": 0.4,
+   "held_out_px_before": 2.215,
+   "inliers": 4135,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.5743,
+    -0.3672,
+    -0.4987
+   ],
+   "split_deg": 0.0969,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.7925,
+   "gate_fail": [],
+   "held_out_px_after": 0.33,
+   "held_out_px_before": 6.808,
+   "inliers": 5661,
+   "position_fitted": true,
+   "position_mm": [
+    1.72,
+    -12.42,
+    3.06
+   ],
+   "position_sigma_mm": 0.428,
+   "position_split_mm": 4.7,
+   "rotvec_deg": [
+    0.3562,
+    0.6224,
+    -1.6428
+   ],
+   "split_deg": 0.0636,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.9718,
+   "gate_fail": [],
+   "held_out_px_after": 0.639,
+   "held_out_px_before": 3.894,
+   "inliers": 729,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.8296,
+    -0.4402,
+    0.2498
+   ],
+   "split_deg": 0.1079,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.7233,
+   "gate_fail": [],
+   "held_out_px_after": 0.329,
+   "held_out_px_before": 2.394,
+   "inliers": 6143,
+   "position_fitted": true,
+   "position_mm": [
+    8.01,
+    -10.84,
+    4.34
+   ],
+   "position_sigma_mm": 0.349,
+   "position_split_mm": 2.072,
+   "rotvec_deg": [
+    0.4928,
+    -0.4439,
+    -0.2885
+   ],
+   "split_deg": 0.0301,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.067,
+   "gate_fail": [],
+   "held_out_px_after": 0.34,
+   "held_out_px_before": 4.944,
+   "inliers": 3238,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3865,
+    -0.033,
+    -0.994
+   ],
+   "split_deg": 0.0182,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "55c624d39b3a71a6eba29727c670c81b6d5dbe00ef43155c4c1a922f4df9b9fd",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "1c028f3594d143603e77b44b8621645851fb22cec433e5b951a206ad168fd7df",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "d01a885f5caa651d8f869c8ccafcc00251e85e862dd2ff2fa55504659381df4e",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "aba15e24185ef10a0dcdfd5756c76d97a1d6e3d671955a0a01c894720a03ccbf",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "904cb017c161cf73",
+ "kind": "online_calibration",
+ "output_sha256": "042565fde84016bb1790ccc3b055afa0f169edfbe99587598aefd20ab99fccf6",
+ "overlap": {
+  "left-right": 0.501,
+  "left_eye-left": 0.707,
+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 39.132,
+  "left_eye": 38.029,
+  "left_front": 42.791,
+  "right": 46.258,
+  "right_eye": 36.383,
+  "right_front": 40.511
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   15717707695000,
+   15718707706111,
+   15719707706111,
+   15723707695000,
+   15724707706111,
+   15725707683888,
+   15726707717222,
+   15730707750555,
+   15731707817222,
+   15732707783888,
+   15733707695000,
+   15738707717222,
+   15739707706111,
+   15740707695000,
+   15741707706111,
+   15743707706111,
+   15744707706111,
+   15749707706111,
+   15750707695000,
+   15751707706111,
+   15753707750555,
+   15754707772777,
+   15759707706111,
+   15760707695000,
+   15762707806111,
+   15763707695000,
+   15764707695000,
+   15765707706111,
+   15768707706111,
+   15769707706111,
+   15773707783888,
+   15774707695000,
+   15775707695000,
+   15780707706111,
+   15781707706111,
+   15782707695000,
+   15783707695000,
+   15787707706111,
+   15788707695000,
+   15789707761666,
+   15793707695000,
+   15794707695000,
+   15797707695000,
+   15798707706111,
+   15800707706111,
+   15801707695000,
+   15802707706111,
+   15803707706111,
+   15807707695000,
+   15808707706111,
+   15810707706111,
+   15811707695000,
+   15813707695000,
+   15814707695000,
+   15816707828333,
+   15817707717222
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM25/session_002/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:beea752451f0fbfefb48e89e0e19a19f41508b26a3d86b5e975c2a8a85e6a95d
+size 626994

actions/locomanipulation/LM25/session_002/meta.json

@@ -328,8 +328,8 @@
   "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": {
@@ -508,10 +508,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.8068114133337312
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 20.12,
+    "offset_rotvec": [
+     0.2379,
+     -0.258,
+     -0.0133
+    ],
+    "dev_deg": {
+     "median": 16.18,
+     "p90": 28.04
+    },
+    "samples": 2161,
+    "accepted": 1992,
+    "wrist_pos_err_mm_median": 105.4,
+    "per_camera": {
+     "head": {
+      "samples": 2161,
+      "accepted": 1992,
+      "gate_deg": 30.0,
+      "offset_deg": 20.12,
+      "tier": "primary",
+      "dev_deg_median": 16.18,
+      "wrist_pos_err_mm_median": 105.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 8179,
+     "interpolated": 3376,
+     "mean_hand": 1521,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.8831,
+    "observed_fraction_of_valid": 0.8837,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 22.73,
+     "smplx": 1.22
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.6,
+      "p90": 11.5
+     },
+     "registered": {
+      "median": 10.2,
+      "p90": 12.5
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 10.73,
+    "offset_rotvec": [
+     -0.0482,
+     0.1767,
+     0.0388
+    ],
+    "dev_deg": {
+     "median": 9.03,
+     "p90": 16.83
+    },
+    "samples": 3218,
+    "accepted": 3194,
+    "wrist_pos_err_mm_median": 36.6,
+    "per_camera": {
+     "head": {
+      "samples": 3218,
+      "accepted": 3194,
+      "gate_deg": 30.0,
+      "offset_deg": 10.73,
+      "tier": "primary",
+      "dev_deg_median": 9.03,
+      "wrist_pos_err_mm_median": 36.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12779,
+     "interpolated": 32,
+     "mean_hand": 265,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9791,
+    "observed_fraction_of_valid": 0.9797,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 10.26,
+     "smplx": 1.23
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.0,
+      "p90": 6.0
+     },
+     "registered": {
+      "median": 5.2,
+      "p90": 7.0
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T16:19:25.426406+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/LM25/session_002",
   "family": "locomanipulation",
   "primitive": "LM25",
   "source_session": "20260910/LM25/20260910_044631_session87"
+ },
+ "task": {
+  "primitive": "LM25",
+  "instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down."
  }
 }

actions/locomanipulation/LM25/session_002/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f9e0a98d66377d98565ad275ea5284fafceb011f79b1731f2387a551a6b71ce
+size 3684829

actions/locomanipulation/LM25/session_002/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d3523d37472da54175700d8d18bcfbfbed9aabda7477dfb56039ef3eacce5293
-size 5022264
+oid sha256:8c11c2cd18b16db5ff3e628df8e52ee5453fc26ef5bceb20eae2816b64442a3f
+size 9194405

actions/locomanipulation/LM25/session_003/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": "LM25",
+ "instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 103.966622,
+   "video": "left_eye",
+   "video_t_start": 0.03934920574513168
+  }
+ ],
+ "episodes": [
+  {
+   "id": "5f915cb3-59b4-4af7-855b-a0ecce2b42da",
+   "segment": "segment1",
+   "action": "LM25",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 99.446,
+   "t_start": 0.0393,
+   "t_end": 99.4853,
+   "instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down."
+  }
+ ]
+}

actions/locomanipulation/LM25/session_003/cameras/gsi_online_calibration.json

@@ -0,0 +1,260 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.378
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.88,
+   "gate_fail": [],
+   "held_out_px_after": 0.473,
+   "held_out_px_before": 2.361,
+   "inliers": 4046,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.5872,
+    -0.3867,
+    -0.5292
+   ],
+   "split_deg": 0.0267,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.7791,
+   "gate_fail": [],
+   "held_out_px_after": 0.368,
+   "held_out_px_before": 6.933,
+   "inliers": 5964,
+   "position_fitted": false,
+   "position_rejected": {
+    "position_mm": [
+     3.26,
+     -12.96,
+     1.49
+    ],
+    "position_sigma_mm": 0.387,
+    "position_split_mm": 8.594
+   },
+   "rotvec_deg": [
+    0.4806,
+    0.627,
+    -1.594
+   ],
+   "split_deg": 0.0609,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.8606,
+   "gate_fail": [],
+   "held_out_px_after": 0.661,
+   "held_out_px_before": 4.08,
+   "inliers": 758,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.767,
+    -0.292,
+    0.2588
+   ],
+   "split_deg": 0.2309,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.7824,
+   "gate_fail": [],
+   "held_out_px_after": 0.354,
+   "held_out_px_before": 2.341,
+   "inliers": 6258,
+   "position_fitted": true,
+   "position_mm": [
+    12.38,
+    -4.07,
+    4.9
+   ],
+   "position_sigma_mm": 0.431,
+   "position_split_mm": 1.388,
+   "rotvec_deg": [
+    0.5662,
+    -0.4638,
+    -0.2766
+   ],
+   "split_deg": 0.0452,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.087,
+   "gate_fail": [],
+   "held_out_px_after": 0.358,
+   "held_out_px_before": 4.83,
+   "inliers": 3102,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3739,
+    -0.0308,
+    -1.0202
+   ],
+   "split_deg": 0.0222,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "494af1a7f67ab8fd44a46cfa24c91c918a9c242e7b24cdd72746ce89e5097ad1",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "b632b9621223b923f270dd87c580c6e43bda8b0a5434a97dc8c166de4507a81e",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "6c9886b22ef340a8939313e514779242def92739f7a0591c29e19a275ec7c179",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "5e8832fa782e76e8d849ee43a4187a5df9622ead8e101d08ccf6b5903d1856cd",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "ed50f8ea8242f683",
+ "kind": "online_calibration",
+ "output_sha256": "6a2d42e173cc808dd277301026e38e85b86499117e71ca3081a113339db668ac",
+ "overlap": {
+  "left-right": 0.501,
+  "left_eye-left": 0.707,
+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 42.596,
+  "left_eye": 50.571,
+  "left_front": 51.835,
+  "right": 47.355,
+  "right_eye": 51.14,
+  "right_front": 49.42
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   15840275249555,
+   15841275249555,
+   15842275260666,
+   15843275260666,
+   15848275394000,
+   15849275260666,
+   15850275238444,
+   15851275249555,
+   15852275249555,
+   15853275260666,
+   15857275260666,
+   15858275249555,
+   15859275282888,
+   15860275382888,
+   15864275249555,
+   15865275249555,
+   15868275305111,
+   15869275294000,
+   15871275249555,
+   15872275260666,
+   15874275249555,
+   15875275260666,
+   15878275382888,
+   15879275282888,
+   15880275249555,
+   15881275227333,
+   15884275260666,
+   15885275260666,
+   15886275260666,
+   15887275227333,
+   15891275382888,
+   15892275249555,
+   15894275260666,
+   15895275260666,
+   15898275249555,
+   15899275282888,
+   15900275249555,
+   15904275271777,
+   15905275249555,
+   15907275260666,
+   15908275249555,
+   15910275249555,
+   15911275316222,
+   15915275249555,
+   15916275249555,
+   15918275360666,
+   15919275294000,
+   15920275271777,
+   15921275382888,
+   15924275260666,
+   15925275260666,
+   15926275249555,
+   15927275249555,
+   15929275271777,
+   15930275260666,
+   15933275249555,
+   15934275249555,
+   15938275360666,
+   15939275249555
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM25/session_003/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09ae959b67328780d45bf913b42bc5621871ca7deb1452f39a7e364d2b2555b7
+size 598669

actions/locomanipulation/LM25/session_003/meta.json

@@ -328,8 +328,8 @@
   "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": {
@@ -508,10 +508,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.8032774794370896
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 20.47,
+    "offset_rotvec": [
+     0.2385,
+     -0.2593,
+     -0.0597
+    ],
+    "dev_deg": {
+     "median": 16.2,
+     "p90": 29.61
+    },
+    "samples": 1284,
+    "accepted": 1156,
+    "wrist_pos_err_mm_median": 135.1,
+    "per_camera": {
+     "head": {
+      "samples": 1284,
+      "accepted": 1156,
+      "gate_deg": 30.0,
+      "offset_deg": 20.47,
+      "tier": "primary",
+      "dev_deg_median": 16.2,
+      "wrist_pos_err_mm_median": 135.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 4728,
+     "interpolated": 3312,
+     "mean_hand": 4429,
+     "no_body_fit": 15
+    },
+    "observed_fraction": 0.644,
+    "observed_fraction_of_valid": 0.6448,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 24.03,
+     "smplx": 2.17
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.6,
+      "p90": 11.2
+     },
+     "registered": {
+      "median": 9.5,
+      "p90": 10.5
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 14.48,
+    "offset_rotvec": [
+     -0.0877,
+     0.2279,
+     -0.0649
+    ],
+    "dev_deg": {
+     "median": 11.92,
+     "p90": 25.08
+    },
+    "samples": 2657,
+    "accepted": 2505,
+    "wrist_pos_err_mm_median": 76.0,
+    "per_camera": {
+     "head": {
+      "samples": 2657,
+      "accepted": 2505,
+      "gate_deg": 30.0,
+      "offset_deg": 14.48,
+      "tier": "primary",
+      "dev_deg_median": 11.92,
+      "wrist_pos_err_mm_median": 76.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10170,
+     "interpolated": 1806,
+     "mean_hand": 493,
+     "no_body_fit": 15
+    },
+    "observed_fraction": 0.9593,
+    "observed_fraction_of_valid": 0.9605,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.2,
+     "smplx": 1.17
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.9,
+      "p90": 6.6
+     },
+     "registered": {
+      "median": 6.4,
+      "p90": 7.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T16:19:26.428094+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/LM25/session_003",
   "family": "locomanipulation",
   "primitive": "LM25",
   "source_session": "20260910/LM25/20260910_044835_session88"
+ },
+ "task": {
+  "primitive": "LM25",
+  "instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down."
  }
 }

actions/locomanipulation/LM25/session_003/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f8899b02f643aa72feb21950bf7b7641af6f769f2ce05c76fee572f1a3f2eba
+size 2752127

actions/locomanipulation/LM25/session_003/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e1d28d6029d383986b95c63c49b8d711d8c687bfd7413b751e94965e24425823
-size 4795899
+oid sha256:2cd26e9e0791cd6ab22deedb88834e56338e67df71bd79d2f30b6b6f1e129a6f
+size 8366677

actions/locomanipulation/LM25/session_004/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": "LM25",
+ "instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 108.966567,
+   "video": "left_eye",
+   "video_t_start": 0.03898793421446478
+  }
+ ],
+ "episodes": [
+  {
+   "id": "3c37a6c0-b2e9-4282-9255-456c80953d91",
+   "segment": "segment1",
+   "action": "LM25",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 104.23,
+   "t_start": 0.039,
+   "t_end": 104.269,
+   "instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down."
+  }
+ ]
+}

actions/locomanipulation/LM25/session_004/cameras/gsi_online_calibration.json

@@ -0,0 +1,258 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.388
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.34,
+   "gate_fail": [],
+   "held_out_px_after": 0.501,
+   "held_out_px_before": 4.334,
+   "inliers": 2149,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.8513,
+    -0.2512,
+    -1.0039
+   ],
+   "split_deg": 0.0501,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.7439,
+   "gate_fail": [],
+   "held_out_px_after": 0.466,
+   "held_out_px_before": 5.543,
+   "inliers": 3013,
+   "position_fitted": true,
+   "position_mm": [
+    3.03,
+    -10.03,
+    7.3
+   ],
+   "position_sigma_mm": 0.37,
+   "position_split_mm": 2.437,
+   "rotvec_deg": [
+    0.3588,
+    0.5866,
+    -1.6026
+   ],
+   "split_deg": 0.059,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 1.6832,
+   "gate_fail": [],
+   "held_out_px_after": 0.693,
+   "held_out_px_before": 6.998,
+   "inliers": 1620,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.4271,
+    -0.4011,
+    0.7971
+   ],
+   "split_deg": 0.0928,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.732,
+   "gate_fail": [],
+   "held_out_px_after": 0.415,
+   "held_out_px_before": 3.695,
+   "inliers": 3746,
+   "position_fitted": true,
+   "position_mm": [
+    7.03,
+    -11.48,
+    6.72
+   ],
+   "position_sigma_mm": 0.393,
+   "position_split_mm": 2.841,
+   "rotvec_deg": [
+    0.4999,
+    -0.4567,
+    -0.2783
+   ],
+   "split_deg": 0.0464,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.1662,
+   "gate_fail": [],
+   "held_out_px_after": 0.319,
+   "held_out_px_before": 4.616,
+   "inliers": 4404,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2953,
+    -0.0412,
+    -1.1275
+   ],
+   "split_deg": 0.0123,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "1228b48650fa90520b7e0a416640813c5eba27f02ee0f800d0131e390d6072b7",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "da946013772755e94db1fcfda056dd040257bce05d16e53c75e906aed16969ff",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "8b3518bb7b342b98c93e5512f08f4f31457ee4fd2a464b83077031f0a052ad98",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "eb22867e5fc601b2fd646517cd06a4b89babb526b1ab2179332bc91b2ad17d31",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "d8acf153f2dd3802",
+ "kind": "online_calibration",
+ "output_sha256": "438d08b3952b52bc7da6936130ad57eb8d260a5726445554dd3edc2a425611b6",
+ "overlap": {
+  "left-right": 0.501,
+  "left_eye-left": 0.707,
+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 36.039,
+  "left_eye": 29.898,
+  "left_front": 37.597,
+  "right": 39.904,
+  "right_eye": 31.166,
+  "right_front": 35.15
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   38648543773000,
+   38649543773000,
+   38653543773000,
+   38654543773000,
+   38656543773000,
+   38657543773000,
+   38660543784111,
+   38661543773000,
+   38663543950777,
+   38664543906333,
+   38666543773000,
+   38667543773000,
+   38672543739666,
+   38673543761888,
+   38674543773000,
+   38675543773000,
+   38678543773000,
+   38679543773000,
+   38682543773000,
+   38683543895222,
+   38685543773000,
+   38686543773000,
+   38689543795222,
+   38690543773000,
+   38691543784111,
+   38692543739666,
+   38696543773000,
+   38697543784111,
+   38699543773000,
+   38700543795222,
+   38701543773000,
+   38702543773000,
+   38707543773000,
+   38708543773000,
+   38709543773000,
+   38711543784111,
+   38712543784111,
+   38717543773000,
+   38718543906333,
+   38719543784111,
+   38722543773000,
+   38723543773000,
+   38728543773000,
+   38729543773000,
+   38730543795222,
+   38732543828555,
+   38733543773000,
+   38736543773000,
+   38737543773000,
+   38742543773000,
+   38743543761888,
+   38745543773000,
+   38746543773000,
+   38748543784111,
+   38749543773000,
+   38751543773000,
+   38752543773000
+  ]
+ },
+ "version": 1
+}