Release update 2026-11-05: 5760 sessions, instructions, annotations (part 254)

actions/locomanipulation/LM06/session_010/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": 127.900011,
+   "video": "left_eye",
+   "video_t_start": 0.04005637254940633
+  }
+ ],
+ "episodes": [
+  {
+   "id": "7abbbc2b-4cf8-4e7e-b177-d60830d3a4ea",
+   "segment": "segment1",
+   "action": "LM06",
+   "quality": "valid",
+   "start_s": 1.703,
+   "end_s": 124.865,
+   "t_start": 1.7431,
+   "t_end": 124.9051,
+   "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_010/cameras/gsi_online_calibration.json

@@ -0,0 +1,256 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.39
+ },
+ "cameras": {
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+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
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+ },
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+  "left_front": 52.09,
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+  "right_eye": 48.838,
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+ "runtime": {
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+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
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actions/locomanipulation/LM06/session_010/cameras/slam.npz

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actions/locomanipulation/LM06/session_010/meta.json

@@ -266,44 +266,44 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
  "canonical": {
-  "generated_at_utc": "2026-10-27T06:43:10.123856+00:00",
+  "generated_at_utc": "2026-10-28T23:22:18.469309+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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    [
@@ -315,20 +315,20 @@
   ],
   "block": "20261026-morning",
   "block_assignment": "trc",
-  "tilt_removed_deg": 0.6736075582400546,
+  "tilt_removed_deg": 0.6697930607742368,
   "plane_status": "ok",
   "floor": {
-   "sole_marker_p1_mm": 27.2,
-   "headtop_p95_mm": 1647.8
+   "sole_marker_p1_mm": 27.0,
+   "headtop_p95_mm": 1647.6
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   "gravity_check": {
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    "g_world_mean_m_s2": [
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+    0.0463,
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+    9.7798
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-   "tilt_from_z_deg": 1.872,
+   "tilt_from_z_deg": 1.838,
    "tilt_from_z_deg_before_levelling": 1.818,
    "magnitude_m_s2": 9.7848
   },
@@ -347,7 +347,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-27T07:59:52.808346+00:00",
+  "generated_at_utc": "2026-10-29T05:01:25.736614+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -356,8 +356,8 @@
   "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": {
@@ -400,8 +400,8 @@
   "valid_fraction": 0.9997,
   "qc": {
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-    "p5": 10.3
+    "median": 14.8,
+    "p5": 10.2
    },
    "frames_checked": 512,
    "stature_mm": 1614.2
@@ -416,19 +416,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 180.0,
+    "Q_deg": 11.67,
     "Q_rotvec": [
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+     -0.08555,
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+     0.13394
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     "in_out_sign": 1,
-    "wrist_bend_deg_median": 173.7,
-    "opposite_sign_bend_deg": 40.2,
+    "wrist_bend_deg_median": 51.3,
+    "opposite_sign_bend_deg": 140.9,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.56,
     "hand_vs_marker_frame_deg": {
-     "before": 179.57,
+     "before": 12.04,
      "after": 2.56
     },
     "markers_on_wrist": [
@@ -436,15 +436,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -171.85,
+     "twist_moved_deg": 47.63,
      "wrist_twist_deg_after": {
-      "median": -2.44,
+      "median": 0.01,
       "iqr": [
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-       1.3
+       -3.9,
+       3.7
       ]
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-     "wrist_total_deg_median_after": 20.8,
+     "wrist_total_deg_median_after": 20.4,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -455,19 +455,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 0.0,
+    "Q_deg": 36.8,
     "Q_rotvec": [
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-     0.0,
-     -0.0
+     0.5951,
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+     -0.0067
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     "in_out_sign": 1,
-    "wrist_bend_deg_median": 29.6,
-    "opposite_sign_bend_deg": 170.1,
+    "wrist_bend_deg_median": 103.9,
+    "opposite_sign_bend_deg": 89.0,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.94,
     "hand_vs_marker_frame_deg": {
-     "before": 2.94,
+     "before": 37.06,
      "after": 2.94
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     "markers_on_wrist": [
@@ -475,7 +475,7 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -0.0,
+     "twist_moved_deg": -100.71,
      "wrist_twist_deg_after": {
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       "iqr": [
@@ -494,14 +494,128 @@
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     "frames_used": 1500
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-   "generated_at_utc": "2026-10-28T06:50:37.929923+00:00",
+   "generated_at_utc": "2026-10-29T05:01:29.317736+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
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+    "offset_rotvec": [
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+     0.0144,
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+    "dev_deg": {
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+     "p90": 36.91
+    },
+    "samples": 3561,
+    "accepted": 2949,
+    "wrist_pos_err_mm_median": 28.5,
+    "per_camera": {
+     "head": {
+      "samples": 3561,
+      "accepted": 2949,
+      "gate_deg": 30.0,
+      "offset_deg": 14.18,
+      "tier": "primary",
+      "dev_deg_median": 17.08,
+      "wrist_pos_err_mm_median": 28.5
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 2736,
+     "mean_hand": 671,
+     "no_body_fit": 5
+    },
+    "observed_fraction": 0.956,
+    "observed_fraction_of_valid": 0.9563,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 19.05,
+     "smplx": 1.01
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
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+      "p90": 13.9
+     },
+     "registered": {
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+      "p90": 12.4
+     }
+    }
+   },
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+    "accepted": 3292,
+    "wrist_pos_err_mm_median": 72.0,
+    "per_camera": {
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+      "gate_deg": 30.0,
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+      "tier": "primary",
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+    "palm_axis_vs_markers_deg": {
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+    "hand_marker_to_mesh_mm": {
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+      "p90": 16.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:31:34.700405+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_010",
   "family": "locomanipulation",
   "primitive": "LM06",
   "source_session": "20261026/LM06/20261026_061122_session19"
+ },
+ "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."
  }
 }

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actions/locomanipulation/LM06/session_010/motions/smplx.npz

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actions/locomanipulation/LM06/session_011/annotations.json

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+{
+ "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.",
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+   "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_011/cameras/gsi_online_calibration.json

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actions/locomanipulation/LM06/session_011/cameras/slam.npz

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actions/locomanipulation/LM06/session_011/meta.json

@@ -265,44 +265,44 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
  "canonical": {
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+  "generated_at_utc": "2026-10-28T23:22:18.479662+00:00",
   "generated_by": "scripts/canonicalise_dataset.py",
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@@ -314,20 +314,20 @@
   ],
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   "block_assignment": "trc",
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   ]
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+  "generated_at_utc": "2026-10-29T05:01:25.728742+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
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   "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": {
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-   "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",
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   "valid_fraction": 0.9998,
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    "stature_mm": 1614.2
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     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
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     "hand_vs_marker_frame_deg": {
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@@ -435,12 +435,12 @@
      "LHandOut"
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     "forearm_twist": {
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      "wrist_twist_deg_after": {
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     "hand_vs_marker_frame_deg": {
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@@ -474,12 +474,12 @@
      "RHandOut"
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+   "generated_at_utc": "2026-10-29T05:01:29.408104+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
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+      "tier": "primary",
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+    "palm_axis_vs_markers_deg": {
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+     "smplx": 1.46
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+    "hand_marker_to_mesh_mm": {
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:31:34.661675+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_011",
   "family": "locomanipulation",
   "primitive": "LM06",
   "source_session": "20261026/LM06/20261026_061351_session20"
+ },
+ "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."
  }
 }

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