Release update 2026-11-05: 5760 sessions, instructions, annotations (part 164)

actions/locomanipulation/LM01/session_020/annotations.json

@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 3)",
+ "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": "LM01",
+ "instruction": "Pick an object up off the floor at one end of the room, carry it across, and place it on the waist-height shelf at the other end. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 142.8999,
+   "video": "left_eye",
+   "video_t_start": 0.04018658876238257
+  }
+ ],
+ "episodes": [
+  {
+   "id": "02590f15-c103-4742-83f5-cd72d5efca5d",
+   "segment": "segment1",
+   "action": "LM01",
+   "quality": "valid",
+   "start_s": 2.658,
+   "end_s": 140.16,
+   "t_start": 2.6982,
+   "t_end": 140.2002,
+   "instruction": "Pick an object up off the floor at one end of the room, carry it across, and place it on the waist-height shelf at the other end. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}

actions/locomanipulation/LM01/session_020/cameras/gsi_online_calibration.json

@@ -0,0 +1,255 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.383
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
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+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+   "gate_fail": [],
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+    -0.2016,
+    -1.3517
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+   "usable": true
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+    "right_front",
+    "right_eye",
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+    "right_front",
+    "left_eye",
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+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
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+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
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+ "kind": "online_calibration",
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+ },
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+  "left_eye": 51.801,
+  "left_front": 58.513,
+  "right": 53.157,
+  "right_eye": 52.395,
+  "right_front": 58.033
+ },
+ "runtime": {
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+  "opencv": "5.0.0",
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actions/locomanipulation/LM01/session_020/cameras/slam.npz

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actions/locomanipulation/LM01/session_020/meta.json

@@ -263,44 +263,44 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
  "canonical": {
-  "generated_at_utc": "2026-10-27T06:43:09.040548+00:00",
+  "generated_at_utc": "2026-10-28T23:22:18.506234+00:00",
   "generated_by": "scripts/canonicalise_dataset.py",
   "frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
   "R_canon_nokov": [
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-    0.0116771196,
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+    0.9999319725,
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    ]
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   "T_canon_nokov_mm": [
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-    1.167712e-05,
-    -7.958e-09,
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     0.0
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    [
@@ -312,20 +312,20 @@
   ],
   "block": "20261026-morning",
   "block_assignment": "trc",
-  "tilt_removed_deg": 0.6736075582400546,
+  "tilt_removed_deg": 0.6697930607742368,
   "plane_status": "ok",
   "floor": {
-   "sole_marker_p1_mm": 28.2,
-   "headtop_p95_mm": 1650.9
+   "sole_marker_p1_mm": 28.0,
+   "headtop_p95_mm": 1650.8
   },
   "gravity_check": {
    "static_samples": 500,
    "g_world_mean_m_s2": [
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-    -0.1287,
-    9.8378
+    -0.1011,
+    -0.1229,
+    9.8379
    ],
-   "tilt_from_z_deg": 0.953,
+   "tilt_from_z_deg": 0.927,
    "tilt_from_z_deg_before_levelling": 1.425,
    "magnitude_m_s2": 9.8392
   },
@@ -344,7 +344,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-27T07:57:39.529683+00:00",
+  "generated_at_utc": "2026-10-29T05:00:13.081185+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -353,8 +353,8 @@
   "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": {
@@ -402,8 +402,8 @@
   "valid_fraction": 0.9995,
   "qc": {
    "lowest_vertex_mm": {
-    "median": 15.3,
-    "p5": 11.3
+    "median": 15.2,
+    "p5": 11.1
    },
    "frames_checked": 572,
    "stature_mm": 1614.2
@@ -418,19 +418,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 180.0,
+    "Q_deg": 11.97,
     "Q_rotvec": [
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-     0.4392,
-     0.86995
+     0.08428,
+     -0.08145,
+     0.17288
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 174.6,
-    "opposite_sign_bend_deg": 39.5,
+    "wrist_bend_deg_median": 31.3,
+    "opposite_sign_bend_deg": 155.1,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 3.25,
     "hand_vs_marker_frame_deg": {
-     "before": 178.05,
+     "before": 11.81,
      "after": 3.25
     },
     "markers_on_wrist": [
@@ -439,15 +439,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -170.22,
+     "twist_moved_deg": 28.19,
      "wrist_twist_deg_after": {
-      "median": -8.83,
+      "median": -0.0,
       "iqr": [
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-       -4.8
+       -10.1,
+       4.0
       ]
      },
-     "wrist_total_deg_median_after": 16.7,
+     "wrist_total_deg_median_after": 13.7,
      "markers_on_forearm": [
       "LElbowIn",
       "LForearm",
@@ -458,19 +458,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 0.0,
+    "Q_deg": 18.25,
     "Q_rotvec": [
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-     0.0,
-     -0.0
+     0.30315,
+     0.02213,
+     -0.0952
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     "in_out_sign": 1,
-    "wrist_bend_deg_median": 23.5,
-    "opposite_sign_bend_deg": 169.9,
+    "wrist_bend_deg_median": 47.3,
+    "opposite_sign_bend_deg": 149.2,
     "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": 3.23,
+     "before": 18.8,
      "after": 3.23
     },
     "markers_on_wrist": [
@@ -478,7 +478,7 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -0.0,
+     "twist_moved_deg": -39.44,
      "wrist_twist_deg_after": {
       "median": 0.0,
       "iqr": [
@@ -496,16 +496,130 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-28T06:50:35.204011+00:00",
+   "generated_at_utc": "2026-10-29T05:00:16.449273+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 22.63,
+    "offset_rotvec": [
+     0.3382,
+     -0.1589,
+     0.1278
+    ],
+    "dev_deg": {
+     "median": 15.99,
+     "p90": 34.46
+    },
+    "samples": 4080,
+    "accepted": 3485,
+    "wrist_pos_err_mm_median": 33.1,
+    "per_camera": {
+     "head": {
+      "samples": 4080,
+      "accepted": 3485,
+      "gate_deg": 30.0,
+      "offset_deg": 22.63,
+      "tier": "primary",
+      "dev_deg_median": 15.99,
+      "wrist_pos_err_mm_median": 33.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14076,
+     "interpolated": 2352,
+     "mean_hand": 720,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9576,
+    "observed_fraction_of_valid": 0.958,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 20.91,
+     "smplx": 2.39
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 4.1,
+      "p90": 6.1
+     },
+     "registered": {
+      "median": 5.5,
+      "p90": 8.8
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 28.34,
+    "offset_rotvec": [
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+     0.2231,
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+    ],
+    "dev_deg": {
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+     "p90": 40.38
+    },
+    "samples": 4098,
+    "accepted": 3076,
+    "wrist_pos_err_mm_median": 55.1,
+    "per_camera": {
+     "head": {
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+      "accepted": 3076,
+      "gate_deg": 30.0,
+      "offset_deg": 28.34,
+      "tier": "primary",
+      "dev_deg_median": 20.18,
+      "wrist_pos_err_mm_median": 55.1
+     }
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+     "interpolated": 2304,
+     "mean_hand": 2409,
+     "no_body_fit": 8
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+    "observed_fraction": 0.8591,
+    "observed_fraction_of_valid": 0.8595,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 28.24,
+     "smplx": 2.72
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.2,
+      "p90": 7.1
+     },
+     "registered": {
+      "median": 7.2,
+      "p90": 9.0
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:32:01.616365+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/LM01/session_020",
   "family": "locomanipulation",
   "primitive": "LM01",
   "source_session": "20261026/LM01/20261026_043004_session49"
  },
+ "task": {
+  "primitive": "LM01",
+  "instruction": "Pick an object up off the floor at one end of the room, carry it across, and place it on the waist-height shelf at the other end. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+ },
  "objects": [
   {
    "name": "BigBox",
@@ -518,12 +632,6 @@
    "object_type": "BigBox",
    "source": "mocap",
    "pose_frame": "rigid_body"
-  },
-  {
-   "name": "Cushion",
-   "object_type": "Cushion",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
   }
  ]
 }

actions/locomanipulation/LM01/session_020/motions/hands_mano.npz

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+size 5538255

actions/locomanipulation/LM01/session_020/motions/head_rig.npz

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