Release update 2026-11-05: 5760 sessions, instructions, annotations (part 238)

actions/locomanipulation/LM05/session_014/annotations.json

@@ -0,0 +1,39 @@
+{
+ "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": "LM05",
+ "instruction": "Move objects one at a time from the waist-height shelf at one end of the room to 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": 135.000011,
+   "video": "left_eye",
+   "video_t_start": 0.040283961885366565
+  }
+ ],
+ "episodes": [
+  {
+   "id": "c5716015-e27f-4ea4-966b-42972c7a5d35",
+   "segment": "segment1",
+   "action": "LM05",
+   "quality": "valid",
+   "start_s": 2.916,
+   "end_s": 106.789,
+   "t_start": 2.9563,
+   "t_end": 106.8293,
+   "instruction": "Move objects one at a time from the waist-height shelf at one end of the room to 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."
+  },
+  {
+   "id": "bb0aad36-e23d-43be-9f53-841b0fbcf702",
+   "segment": "segment1",
+   "action": "LM05",
+   "quality": "valid",
+   "start_s": 106.986,
+   "end_s": 131.239,
+   "t_start": 107.0263,
+   "t_end": 131.2793,
+   "instruction": "Move objects one at a time from the waist-height shelf at one end of the room to 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/LM05/session_014/cameras/gsi_online_calibration.json

@@ -0,0 +1,253 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.381
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.6767,
+   "gate_fail": [],
+   "held_out_px_after": 0.585,
+   "held_out_px_before": 17.176,
+   "inliers": 1406,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.0262,
+    -0.2463,
+    -1.3029
+   ],
+   "split_deg": 0.1875,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.277,
+   "gate_fail": [],
+   "held_out_px_after": 0.555,
+   "held_out_px_before": 8.866,
+   "inliers": 2491,
+   "position_fitted": true,
+   "position_mm": [
+    1.32,
+    -27.04,
+    -1.87
+   ],
+   "position_sigma_mm": 0.145,
+   "position_split_mm": 0.919,
+   "rotvec_deg": [
+    1.6204,
+    -0.7826,
+    1.3951
+   ],
+   "split_deg": 0.1313,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.8419,
+   "gate_fail": [],
+   "held_out_px_after": 0.668,
+   "held_out_px_before": 12.751,
+   "inliers": 1286,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.8486,
+    -1.2127,
+    3.142
+   ],
+   "split_deg": 0.1182,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.8742,
+   "gate_fail": [],
+   "held_out_px_after": 0.532,
+   "held_out_px_before": 6.269,
+   "inliers": 2604,
+   "position_fitted": true,
+   "position_mm": [
+    0.08,
+    -24.5,
+    0.53
+   ],
+   "position_sigma_mm": 0.144,
+   "position_split_mm": 1.625,
+   "rotvec_deg": [
+    1.6707,
+    -1.3341,
+    1.9208
+   ],
+   "split_deg": 0.1537,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.5725,
+   "gate_fail": [],
+   "held_out_px_after": 0.328,
+   "held_out_px_before": 2.663,
+   "inliers": 3414,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2866,
+    -0.4452,
+    -0.2177
+   ],
+   "split_deg": 0.0202,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "7a687747e7efb81189de65aa16b0f9238b116e2f7c4e147fc529caf3314dcdde",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "15adeab3da37f7cbcf74642f406f69490a415baac51d6545c45224330d575c72",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "fdfecef7330b2d49b9b7c062dfc26c829b03300c27c8cfdd99715888e3e2be69",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "00154bf4eb7dff84f829cf8a15eaadb0475c6e43939e193925261b14216724eb",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "7575fb9da258349f",
+ "kind": "online_calibration",
+ "output_sha256": "9c50d089135c207ba11ca91fbad6b1c4791eb48a6534fedbe19b3068baabc5ce",
+ "overlap": {
+  "left-right": 0.5,
+  "left_eye-left": 0.695,
+  "left_eye-right": 0.702,
+  "left_front-left": 0.506,
+  "left_front-left_eye": 0.692,
+  "left_front-right": 0.458,
+  "left_front-right_eye": 0.698,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.699,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.706,
+  "right_front-left": 0.49,
+  "right_front-left_eye": 0.697,
+  "right_front-right": 0.464,
+  "right_front-right_eye": 0.704
+ },
+ "picture_change": {
+  "left": 50.311,
+  "left_eye": 45.952,
+  "left_front": 53.702,
+  "right": 43.136,
+  "right_eye": 46.267,
+  "right_front": 52.84
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   8531566026000,
+   8532566026000,
+   8533566026000,
+   8534566026000,
+   8536566026000,
+   8537566070444,
+   8539566037111,
+   8540566070444,
+   8541566070444,
+   8542566081555,
+   8543566203777,
+   8545566070444,
+   8546566159333,
+   8547566059333,
+   8548566048222,
+   8550566192666,
+   8551566192666,
+   8552566070444,
+   8553566170444,
+   8556566148222,
+   8557566037111,
+   8558566070444,
+   8561566070444,
+   8562566048222,
+   8563566181555,
+   8564566059333,
+   8565566126000,
+   8567566037111,
+   8568566070444,
+   8569566070444,
+   8570566070444,
+   8573566048222,
+   8574566192666,
+   8575566048222,
+   8576566037111,
+   8577566181555,
+   8579566081555,
+   8580566070444,
+   8582566081555,
+   8583566037111,
+   8584566126000,
+   8586566070444,
+   8587566103777,
+   8588566192666,
+   8589566192666,
+   8590566070444,
+   8591566070444,
+   8593566048222,
+   8594566048222,
+   8597566192666,
+   8598566114888,
+   8599566070444,
+   8601566192666,
+   8602566059333
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM05/session_014/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8de267f4f06a451ee81eca0a1c23d5b40704317416308d2ea05958082b164b48
+size 776686

actions/locomanipulation/LM05/session_014/meta.json

@@ -365,8 +365,8 @@
   "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": {
@@ -547,12 +547,126 @@
   },
   "applied": 1
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 10.41,
+    "offset_rotvec": [
+     0.1477,
+     -0.1051,
+     0.0113
+    ],
+    "dev_deg": {
+     "median": 16.73,
+     "p90": 41.49
+    },
+    "samples": 3623,
+    "accepted": 2904,
+    "wrist_pos_err_mm_median": 32.0,
+    "per_camera": {
+     "head": {
+      "samples": 3623,
+      "accepted": 2904,
+      "gate_deg": 30.0,
+      "offset_deg": 10.41,
+      "tier": "primary",
+      "dev_deg_median": 16.73,
+      "wrist_pos_err_mm_median": 32.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11694,
+     "interpolated": 2010,
+     "mean_hand": 1754,
+     "no_body_fit": 750
+    },
+    "observed_fraction": 0.8455,
+    "observed_fraction_of_valid": 0.8865,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.16,
+     "smplx": 1.86
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 11.3,
+      "p90": 17.5
+     },
+     "registered": {
+      "median": 10.5,
+      "p90": 16.4
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 12.61,
+    "offset_rotvec": [
+     0.1674,
+     -0.0844,
+     -0.1153
+    ],
+    "dev_deg": {
+     "median": 12.65,
+     "p90": 28.01
+    },
+    "samples": 3638,
+    "accepted": 3334,
+    "wrist_pos_err_mm_median": 27.6,
+    "per_camera": {
+     "head": {
+      "samples": 3638,
+      "accepted": 3334,
+      "gate_deg": 30.0,
+      "offset_deg": 12.61,
+      "tier": "primary",
+      "dev_deg_median": 12.65,
+      "wrist_pos_err_mm_median": 27.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13356,
+     "interpolated": 388,
+     "mean_hand": 1714,
+     "no_body_fit": 750
+    },
+    "observed_fraction": 0.848,
+    "observed_fraction_of_valid": 0.8891,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 15.68,
+     "smplx": 2.46
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 14.9,
+      "p90": 27.2
+     },
+     "registered": {
+      "median": 13.2,
+      "p90": 24.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:39:41.505501+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/LM05/session_014",
   "family": "locomanipulation",
   "primitive": "LM05",
   "source_session": "20261024/LM05/20261024_040635_session36"
  },
+ "task": {
+  "primitive": "LM05",
+  "instruction": "Move objects one at a time from the waist-height shelf at one end of the room to 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": "LittleBox1",
@@ -560,24 +674,12 @@
    "source": "mocap",
    "pose_frame": "rigid_body"
   },
-  {
-   "name": "LittleBox2",
-   "object_type": "LittleBox",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
-  },
   {
    "name": "LittleBox3",
    "object_type": "LittleBox",
    "source": "mocap",
    "pose_frame": "mesh"
   },
-  {
-   "name": "LittleBox4",
-   "object_type": "LittleBox",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
-  },
   {
    "name": "LittleBox5",
    "object_type": "LittleBox",

actions/locomanipulation/LM05/session_014/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:020dced1564ae960006adde906edbe77191308dea0e6b50df575c137f5522799
+size 5141209

actions/locomanipulation/LM05/session_014/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c559ad08e15db6de47379295b54e77dc211d6955fd3e58d69f5fee9678732ddc
-size 5963266
+oid sha256:f85bf5c90f509c9d69c3040f679ce97f90bf7d44b4c0b963149c4c0955a9aaab
+size 10688782

actions/locomanipulation/LM05/session_015/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": "LM05",
+ "instruction": "Move objects one at a time from the waist-height shelf at one end of the room to 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": 135.100089,
+   "video": "left_eye",
+   "video_t_start": 0.039599423963844596
+  }
+ ],
+ "episodes": [
+  {
+   "id": "721be4e4-8b7a-4543-ae8b-74aefd60642d",
+   "segment": "segment1",
+   "action": "LM05",
+   "quality": "valid",
+   "start_s": 1.818,
+   "end_s": 130.399,
+   "t_start": 1.8576,
+   "t_end": 130.4386,
+   "instruction": "Move objects one at a time from the waist-height shelf at one end of the room to 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/LM05/session_015/cameras/gsi_online_calibration.json

@@ -0,0 +1,253 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.414
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.695,
+   "gate_fail": [],
+   "held_out_px_after": 0.498,
+   "held_out_px_before": 16.926,
+   "inliers": 1523,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.9847,
+    -0.2644,
+    -1.3541
+   ],
+   "split_deg": 0.1069,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.3424,
+   "gate_fail": [],
+   "held_out_px_after": 0.652,
+   "held_out_px_before": 8.653,
+   "inliers": 2439,
+   "position_fitted": true,
+   "position_mm": [
+    1.61,
+    -26.92,
+    -3.35
+   ],
+   "position_sigma_mm": 0.177,
+   "position_split_mm": 1.108,
+   "rotvec_deg": [
+    1.6812,
+    -0.7844,
+    1.4301
+   ],
+   "split_deg": 0.1511,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.8318,
+   "gate_fail": [],
+   "held_out_px_after": 0.689,
+   "held_out_px_before": 12.072,
+   "inliers": 919,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.8605,
+    -1.2853,
+    3.0934
+   ],
+   "split_deg": 0.0473,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.9385,
+   "gate_fail": [],
+   "held_out_px_after": 0.448,
+   "held_out_px_before": 5.409,
+   "inliers": 2963,
+   "position_fitted": true,
+   "position_mm": [
+    0.85,
+    -22.31,
+    -0.37
+   ],
+   "position_sigma_mm": 0.11,
+   "position_split_mm": 0.915,
+   "rotvec_deg": [
+    1.7527,
+    -1.3779,
+    1.9142
+   ],
+   "split_deg": 0.0228,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.5802,
+   "gate_fail": [],
+   "held_out_px_after": 0.366,
+   "held_out_px_before": 3.026,
+   "inliers": 3485,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2758,
+    -0.4666,
+    -0.207
+   ],
+   "split_deg": 0.017,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "9681c8fbb0bb681d695c64be41f4ad679608ad3e26c016505f5920b7cad2bff3",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "b29368cd465053a102a192bf9175eb433e0e0bd638ab84818aac910c7b7fce45",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "8e3902264b60a5bb483cb02cabde273b5c25bce8c7496f56dca6b88a3e892b2b",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "f227666670cc6eba6738e498386d7f57711841ab69e67ce91caf8670b16174b9",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "acf2f01e099a59cb",
+ "kind": "online_calibration",
+ "output_sha256": "38b3662e2a93f484dfdb0fff97f948aae02e6efd0793bb00b7fa2b446e4123dd",
+ "overlap": {
+  "left-right": 0.5,
+  "left_eye-left": 0.695,
+  "left_eye-right": 0.702,
+  "left_front-left": 0.506,
+  "left_front-left_eye": 0.692,
+  "left_front-right": 0.458,
+  "left_front-right_eye": 0.698,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.699,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.706,
+  "right_front-left": 0.49,
+  "right_front-left_eye": 0.697,
+  "right_front-right": 0.464,
+  "right_front-right_eye": 0.704
+ },
+ "picture_change": {
+  "left": 43.896,
+  "left_eye": 42.533,
+  "left_front": 52.886,
+  "right": 42.448,
+  "right_eye": 44.205,
+  "right_front": 51.497
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   8692962712444,
+   8693962701333,
+   8697962690222,
+   8698962690222,
+   8702962690222,
+   8703962823555,
+   8707962712444,
+   8708962690222,
+   8709962712444,
+   8714962690222,
+   8715962690222,
+   8720962701333,
+   8721962723555,
+   8722962690222,
+   8729962712444,
+   8730962701333,
+   8731962712444,
+   8736962690222,
+   8737962723555,
+   8741962712444,
+   8742962779111,
+   8746962712444,
+   8747962690222,
+   8750962701333,
+   8751962712444,
+   8755962712444,
+   8756962701333,
+   8758962768000,
+   8759962768000,
+   8764962723555,
+   8765962712444,
+   8766962690222,
+   8771962712444,
+   8772962701333,
+   8775962723555,
+   8776962701333,
+   8782962701333,
+   8783962712444,
+   8786962690222,
+   8787962712444,
+   8788962701333,
+   8794962712444,
+   8795962690222,
+   8799962701333,
+   8800962712444,
+   8804962712444,
+   8805962701333,
+   8806962712444,
+   8812962723555,
+   8813962712444,
+   8817962701333,
+   8818962701333,
+   8821962701333,
+   8822962712444
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM05/session_015/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e9c5afb3b0cf72610f02147c0c5b99b07d6f3947c8c93ed8a7594423ae15559
+size 775217

actions/locomanipulation/LM05/session_015/meta.json

@@ -365,8 +365,8 @@
   "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": {
@@ -547,12 +547,126 @@
   },
   "applied": 1
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 12.64,
+    "offset_rotvec": [
+     0.1628,
+     -0.1368,
+     0.0587
+    ],
+    "dev_deg": {
+     "median": 20.44,
+     "p90": 43.1
+    },
+    "samples": 3436,
+    "accepted": 2674,
+    "wrist_pos_err_mm_median": 29.2,
+    "per_camera": {
+     "head": {
+      "samples": 3436,
+      "accepted": 2674,
+      "gate_deg": 30.0,
+      "offset_deg": 12.64,
+      "tier": "primary",
+      "dev_deg_median": 20.44,
+      "wrist_pos_err_mm_median": 29.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10796,
+     "interpolated": 2324,
+     "mean_hand": 2259,
+     "no_body_fit": 841
+    },
+    "observed_fraction": 0.8089,
+    "observed_fraction_of_valid": 0.8531,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 16.9,
+     "smplx": 1.86
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 11.4,
+      "p90": 19.4
+     },
+     "registered": {
+      "median": 10.8,
+      "p90": 18.1
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 9.55,
+    "offset_rotvec": [
+     0.0807,
+     -0.0343,
+     -0.1417
+    ],
+    "dev_deg": {
+     "median": 16.42,
+     "p90": 30.51
+    },
+    "samples": 3462,
+    "accepted": 3105,
+    "wrist_pos_err_mm_median": 35.7,
+    "per_camera": {
+     "head": {
+      "samples": 3462,
+      "accepted": 3105,
+      "gate_deg": 30.0,
+      "offset_deg": 9.55,
+      "tier": "primary",
+      "dev_deg_median": 16.42,
+      "wrist_pos_err_mm_median": 35.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12468,
+     "interpolated": 808,
+     "mean_hand": 2103,
+     "no_body_fit": 841
+    },
+    "observed_fraction": 0.8185,
+    "observed_fraction_of_valid": 0.8633,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 14.86,
+     "smplx": 2.8
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 13.1,
+      "p90": 27.2
+     },
+     "registered": {
+      "median": 11.3,
+      "p90": 24.6
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:38:25.603568+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/LM05/session_015",
   "family": "locomanipulation",
   "primitive": "LM05",
   "source_session": "20261024/LM05/20261024_040915_session37"
  },
+ "task": {
+  "primitive": "LM05",
+  "instruction": "Move objects one at a time from the waist-height shelf at one end of the room to 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": "LittleBox1",
@@ -560,36 +674,12 @@
    "source": "mocap",
    "pose_frame": "rigid_body"
   },
-  {
-   "name": "LittleBox2",
-   "object_type": "LittleBox",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
-  },
   {
    "name": "LittleBox3",
    "object_type": "LittleBox",
    "source": "mocap",
    "pose_frame": "mesh"
   },
-  {
-   "name": "LittleBox4",
-   "object_type": "LittleBox",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
-  },
-  {
-   "name": "LittleBox5",
-   "object_type": "LittleBox",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
-  },
-  {
-   "name": "LittleBox6",
-   "object_type": "LittleBox",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
-  },
   {
    "name": "Table",
    "object_type": "Table",

actions/locomanipulation/LM05/session_015/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e352856ceb380ef258787612f9ef5b15abf0cf1fe1215cc162c3e1bc03767cb
+size 4920907

actions/locomanipulation/LM05/session_015/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:5be95fe3dbcfe92c61a9c0c9e6225940c663862d0f2ea62bce6a680799683766
-size 5927582
+oid sha256:419b224c00b3e458bf4a81a68408bb0d4470e8c8898b1fa88f9dd51fe3e0b9ec
+size 10533197