Release update 2026-11-05: 5760 sessions, instructions, annotations (part 271)

actions/locomanipulation/LM07/session_008/annotations.json

@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "LM07",
+ "instruction": "Take an object down from the highest shelf you can comfortably reach, carry it across, and place it on the waist-height shelf. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 129.899933,
+   "video": "left_eye",
+   "video_t_start": 0.04007840553485481
+  }
+ ],
+ "episodes": [
+  {
+   "id": "7ff5196b-5618-4318-a795-cfee14b71887",
+   "segment": "segment1",
+   "action": "LM07",
+   "quality": "valid",
+   "start_s": 3.636,
+   "end_s": 126.688,
+   "t_start": 3.6761,
+   "t_end": 126.7281,
+   "instruction": "Take an object down from the highest shelf you can comfortably reach, carry it across, and place it on the waist-height shelf. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}

actions/locomanipulation/LM07/session_008/cameras/gsi_online_calibration.json

@@ -0,0 +1,259 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.415
+ },
+ "cameras": {
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+    "right_front",
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+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
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+ "kind": "online_calibration",
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+ },
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+  "left_eye": 50.675,
+  "left_front": 61.6,
+  "right": 48.494,
+  "right_eye": 51.685,
+  "right_front": 57.023
+ },
+ "runtime": {
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+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
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actions/locomanipulation/LM07/session_008/cameras/slam.npz

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actions/locomanipulation/LM07/session_008/meta.json

@@ -277,44 +277,44 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
  "canonical": {
-  "generated_at_utc": "2026-10-27T06:43:10.775469+00:00",
+  "generated_at_utc": "2026-10-28T23:22:20.131346+00:00",
   "generated_by": "scripts/canonicalise_dataset.py",
   "frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
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@@ -326,20 +326,20 @@
   ],
   "block": "20261026-morning",
   "block_assignment": "trc",
-  "tilt_removed_deg": 0.6736075582400546,
+  "tilt_removed_deg": 0.6697930607742368,
   "plane_status": "ok",
   "floor": {
-   "sole_marker_p1_mm": 27.5,
+   "sole_marker_p1_mm": 27.3,
    "headtop_p95_mm": 1651.9
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   "gravity_check": {
    "static_samples": 552,
    "g_world_mean_m_s2": [
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+    0.0494,
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+    9.7859
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-   "tilt_from_z_deg": 2.13,
+   "tilt_from_z_deg": 2.097,
    "tilt_from_z_deg_before_levelling": 2.068,
    "magnitude_m_s2": 9.7925
   },
@@ -358,7 +358,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-27T08:02:49.239904+00:00",
+  "generated_at_utc": "2026-10-29T05:05:18.499949+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": {
@@ -411,7 +411,7 @@
   "valid_fraction": 1.0,
   "qc": {
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+    "median": 13.0,
     "p5": 10.4
    },
    "frames_checked": 520,
@@ -427,19 +427,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 180.0,
+    "Q_deg": 18.25,
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+     -0.2013,
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+     0.24289
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     "in_out_sign": 1,
-    "wrist_bend_deg_median": 172.9,
-    "opposite_sign_bend_deg": 47.7,
+    "wrist_bend_deg_median": 37.8,
+    "opposite_sign_bend_deg": 157.1,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 3.23,
     "hand_vs_marker_frame_deg": {
-     "before": 179.35,
+     "before": 18.66,
      "after": 3.23
     },
     "markers_on_wrist": [
@@ -447,15 +447,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -170.89,
+     "twist_moved_deg": 31.75,
      "wrist_twist_deg_after": {
-      "median": -2.71,
+      "median": 0.08,
       "iqr": [
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-       1.2
+       -4.2,
+       4.0
       ]
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-     "wrist_total_deg_median_after": 24.3,
+     "wrist_total_deg_median_after": 24.0,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -466,19 +466,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 0.0,
+    "Q_deg": 85.79,
     "Q_rotvec": [
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-     0.0,
-     -0.0
+     1.49287,
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+     0.06197
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     "in_out_sign": 1,
-    "wrist_bend_deg_median": 26.8,
-    "opposite_sign_bend_deg": 173.6,
+    "wrist_bend_deg_median": 104.3,
+    "opposite_sign_bend_deg": 87.7,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 3.04,
     "hand_vs_marker_frame_deg": {
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+     "before": 86.04,
      "after": 3.04
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     "markers_on_wrist": [
@@ -486,9 +486,9 @@
      "RHandOut"
     ],
     "forearm_twist": {
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      "wrist_twist_deg_after": {
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+      "median": -0.02,
       "iqr": [
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@@ -505,14 +505,128 @@
     },
     "frames_used": 1500
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-   "generated_at_utc": "2026-10-28T06:50:39.414088+00:00",
+   "generated_at_utc": "2026-10-29T05:05:21.743157+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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+     -0.0086
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+    "dev_deg": {
+     "median": 18.59,
+     "p90": 43.25
+    },
+    "samples": 3457,
+    "accepted": 2660,
+    "wrist_pos_err_mm_median": 35.7,
+    "per_camera": {
+     "head": {
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+      "accepted": 2660,
+      "gate_deg": 30.0,
+      "offset_deg": 14.7,
+      "tier": "primary",
+      "dev_deg_median": 18.59,
+      "wrist_pos_err_mm_median": 35.7
+     }
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+     "interpolated": 3216,
+     "mean_hand": 1484,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9048,
+    "observed_fraction_of_valid": 0.9048,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 21.55,
+     "smplx": 1.4
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
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+      "p90": 14.3
+     },
+     "registered": {
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+      "p90": 12.9
+     }
+    }
+   },
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+    "offset_rotvec": [
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+     0.0236
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+     "p90": 29.74
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+    "per_camera": {
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+      "tier": "primary",
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+     "mean_hand": 228,
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+    "palm_axis_vs_markers_deg": {
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+     "smplx": 3.18
+    },
+    "hand_marker_to_mesh_mm": {
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+     },
+     "registered": {
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+      "p90": 18.8
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:31:36.204282+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomanipulation/LM07/session_008",
   "family": "locomanipulation",
   "primitive": "LM07",
   "source_session": "20261026/LM07/20261026_062116_session23"
+ },
+ "task": {
+  "primitive": "LM07",
+  "instruction": "Take an object down from the highest shelf you can comfortably reach, carry it across, and place it on the waist-height shelf. Keep going until the operator says stop; one object at a time, and do not rush between trips."
  }
 }

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actions/locomanipulation/LM07/session_008/motions/smplx.npz

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actions/locomanipulation/LM07/session_009/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": "LM07",
+ "instruction": "Take an object down from the highest shelf you can comfortably reach, carry it across, and place it on the waist-height shelf. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
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+   "instruction": "Take an object down from the highest shelf you can comfortably reach, carry it across, and place it on the waist-height shelf. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}

actions/locomanipulation/LM07/session_009/cameras/gsi_online_calibration.json

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actions/locomanipulation/LM07/session_009/cameras/slam.npz

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actions/locomanipulation/LM07/session_009/meta.json

@@ -277,44 +277,44 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
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+  "generated_at_utc": "2026-10-28T23:22:21.535115+00:00",
   "generated_by": "scripts/canonicalise_dataset.py",
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@@ -326,20 +326,20 @@
   ],
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@@ -358,7 +358,7 @@
   ]
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+  "generated_at_utc": "2026-10-29T05:05:40.061032+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
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@@ -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": {
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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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@@ -411,8 +411,8 @@
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    "stature_mm": 1614.2
@@ -427,19 +427,19 @@
   "wrist_correction": {
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+    "Q_deg": 11.6,
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-    "opposite_sign_bend_deg": 43.8,
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+    "opposite_sign_bend_deg": 168.9,
     "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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+     "before": 12.18,
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@@ -447,15 +447,15 @@
      "LHandOut"
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       "iqr": [
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      "markers_on_forearm": [
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       "LWristIn",
@@ -466,19 +466,19 @@
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+    "opposite_sign_bend_deg": 90.2,
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     "hand_vs_marker_frame_deg": {
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     "markers_on_wrist": [
@@ -486,12 +486,12 @@
      "RHandOut"
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@@ -505,14 +505,128 @@
     },
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+   "generated_at_utc": "2026-10-29T05:05:43.172219+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+      "tier": "primary",
+      "dev_deg_median": 16.44,
+      "wrist_pos_err_mm_median": 38.0
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+    "observed_fraction_of_valid": 0.9647,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 1.37
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+     }
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:31:34.603467+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomanipulation/LM07/session_009",
   "family": "locomanipulation",
   "primitive": "LM07",
   "source_session": "20261026/LM07/20261026_062349_session24"
+ },
+ "task": {
+  "primitive": "LM07",
+  "instruction": "Take an object down from the highest shelf you can comfortably reach, carry it across, and place it on the waist-height shelf. Keep going until the operator says stop; one object at a time, and do not rush between trips."
  }
 }

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