Release update 2026-11-05: 5760 sessions, instructions, annotations (part 222)

actions/locomanipulation/LM04/session_009/cameras/gsi_online_calibration.json

@@ -0,0 +1,260 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.42
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.6809,
+   "gate_fail": [],
+   "held_out_px_after": 0.516,
+   "held_out_px_before": 20.375,
+   "inliers": 2159,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.2248,
+    -0.1583,
+    -1.1404
+   ],
+   "split_deg": 0.0307,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.4167,
+   "gate_fail": [],
+   "held_out_px_after": 0.446,
+   "held_out_px_before": 9.597,
+   "inliers": 3826,
+   "position_fitted": true,
+   "position_mm": [
+    2.84,
+    -26.73,
+    -1.19
+   ],
+   "position_sigma_mm": 0.196,
+   "position_split_mm": 1.174,
+   "rotvec_deg": [
+    1.6911,
+    -0.8939,
+    1.477
+   ],
+   "split_deg": 0.0248,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 3.5366,
+   "gate_fail": [],
+   "held_out_px_after": 0.844,
+   "held_out_px_before": 10.661,
+   "inliers": 1497,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.6557,
+    -1.2475,
+    2.8654
+   ],
+   "split_deg": 0.1218,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.8828,
+   "gate_fail": [],
+   "held_out_px_after": 0.414,
+   "held_out_px_before": 5.446,
+   "inliers": 3802,
+   "position_fitted": true,
+   "position_mm": [
+    1.17,
+    -22.2,
+    -0.09
+   ],
+   "position_sigma_mm": 0.226,
+   "position_split_mm": 0.651,
+   "rotvec_deg": [
+    1.7006,
+    -1.3986,
+    1.8608
+   ],
+   "split_deg": 0.031,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.587,
+   "gate_fail": [],
+   "held_out_px_after": 0.379,
+   "held_out_px_before": 4.238,
+   "inliers": 3800,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2188,
+    -0.4777,
+    -0.2616
+   ],
+   "split_deg": 0.0221,
+   "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": "a463e6b23923ce84ccf32e632e063b9c9b4f170cb21db6026745b93847ab0b70",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "e27c4fd5fd2eec4c46b37c059c00bf806744f7ece08793a1e50f48a09933259c",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "efe2391c5305bb85ffe37439982581d9b9f20697020f6909b0cdef0bbdde781e",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "22b28e09b7cb6b463f906f9c70627dd52972275fe6ad747c039c02e86e3c5b51",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "9039ba502479cadc",
+ "kind": "online_calibration",
+ "output_sha256": "ebd65c0af49d76b6e5a75970657933f34d4a30452d2dbc259244dcd226ffde4b",
+ "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": 44.087,
+  "left_eye": 47.615,
+  "left_front": 52.577,
+  "right": 49.629,
+  "right_eye": 49.156,
+  "right_front": 51.564
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   19748676779777,
+   19749676746444,
+   19755676724222,
+   19756676735333,
+   19759676735333,
+   19760676735333,
+   19765676724222,
+   19766676724222,
+   19768676835333,
+   19769676724222,
+   19772676724222,
+   19773676724222,
+   19777676713111,
+   19778676735333,
+   19780676735333,
+   19781676779777,
+   19783676724222,
+   19784676690888,
+   19787676779777,
+   19788676746444,
+   19792676779777,
+   19793676779777,
+   19797676735333,
+   19798676724222,
+   19803676702000,
+   19804676702000,
+   19807676702000,
+   19808676746444,
+   19809676702000,
+   19810676702000,
+   19813676857555,
+   19814676790888,
+   19820676790888,
+   19821676702000,
+   19823676735333,
+   19824676702000,
+   19827676857555,
+   19828676702000,
+   19831676702000,
+   19832676824222,
+   19837676790888,
+   19838676713111,
+   19840676768666,
+   19841676746444,
+   19845676779777,
+   19846676746444,
+   19851676713111,
+   19852676735333,
+   19853676857555,
+   19856676702000,
+   19857676790888,
+   19861676702000,
+   19862676746444,
+   19867676702000,
+   19868676702000,
+   19872676735333,
+   19873676779777,
+   19874676702000,
+   19875676735333
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM04/session_009/cameras/poses.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6fa22a7dd9ffec99e7b07ce2f6013b87a5ff899fbee97d03c200a3316e27ce02
-size 1162303
+oid sha256:6bf0bb7760c73d079e669a7ab022987c8b16d2e2b90bc886fc5fd1d8b70e222b
+size 1162311

actions/locomanipulation/LM04/session_009/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4fcff0c033d1f836a9250332b27bd55d3a2da74070efd5ad204974870509229
+size 761412

actions/locomanipulation/LM04/session_009/meta.json

@@ -263,44 +263,44 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
  "canonical": {
-  "generated_at_utc": "2026-10-26T10:25:46.275089+00:00",
+  "generated_at_utc": "2026-11-03T09:16:54.519755+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": [
    [
-    0.9999906243,
-    0.0043302626,
-    1.32342e-05
+    0.9999906538,
+    0.004323437,
+    1.33659e-05
    ],
    [
-    -1.32342e-05,
-    0.0061123177,
-    -0.9999813195
+    -1.33659e-05,
+    0.0061829029,
+    -0.9999808856
    ],
    [
-    -0.0043302626,
-    0.9999719438,
-    0.0061123177
+    -0.004323437,
+    0.9999715394,
+    0.0061829029
    ]
   ],
   "scale_nokov_to_canon": 0.001,
   "T_canon_nokov_mm": [
    [
-    0.000999990624,
-    4.330263e-06,
-    1.3234e-08,
+    0.000999990654,
+    4.323437e-06,
+    1.3366e-08,
     0.0
    ],
    [
-    -1.3234e-08,
-    6.112318e-06,
-    -0.00099998132,
+    -1.3366e-08,
+    6.182903e-06,
+    -0.000999980886,
     0.0
    ],
    [
-    -4.330263e-06,
-    0.000999971944,
-    6.112318e-06,
+    -4.323437e-06,
+    0.000999971539,
+    6.182903e-06,
     0.0
    ],
    [
@@ -312,7 +312,7 @@
   ],
   "block": "20261023-morning",
   "block_assignment": "trc",
-  "tilt_removed_deg": 0.42919338938063195,
+  "tilt_removed_deg": 0.4322755857928103,
   "plane_status": "ok",
   "floor": {
    "sole_marker_p1_mm": 19.9,
@@ -321,11 +321,11 @@
   "gravity_check": {
    "static_samples": 641,
    "g_world_mean_m_s2": [
-    0.1395,
-    -0.0188,
+    0.1394,
+    -0.0181,
     9.8236
    ],
-   "tilt_from_z_deg": 0.821,
+   "tilt_from_z_deg": 0.82,
    "tilt_from_z_deg_before_levelling": 0.729,
    "magnitude_m_s2": 9.8246
   },
@@ -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": {
@@ -572,12 +572,126 @@
   },
   "applied": 4
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 13.59,
+    "offset_rotvec": [
+     0.0213,
+     -0.1701,
+     0.1641
+    ],
+    "dev_deg": {
+     "median": 14.1,
+     "p90": 168.11
+    },
+    "samples": 3877,
+    "accepted": 3001,
+    "wrist_pos_err_mm_median": 61.9,
+    "per_camera": {
+     "head": {
+      "samples": 3877,
+      "accepted": 3001,
+      "gate_deg": 30.0,
+      "offset_deg": 13.59,
+      "tier": "primary",
+      "dev_deg_median": 14.1,
+      "wrist_pos_err_mm_median": 61.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12005,
+     "interpolated": 238,
+     "mean_hand": 3561,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.7743,
+    "observed_fraction_of_valid": 0.7747,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 15.61,
+     "smplx": 4.7
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 17.7,
+      "p90": 32.5
+     },
+     "registered": {
+      "median": 16.8,
+      "p90": 30.3
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 11.86,
+    "offset_rotvec": [
+     -0.0467,
+     -0.1313,
+     -0.153
+    ],
+    "dev_deg": {
+     "median": 10.02,
+     "p90": 20.77
+    },
+    "samples": 3859,
+    "accepted": 3707,
+    "wrist_pos_err_mm_median": 39.3,
+    "per_camera": {
+     "head": {
+      "samples": 3859,
+      "accepted": 3707,
+      "gate_deg": 30.0,
+      "offset_deg": 11.86,
+      "tier": "primary",
+      "dev_deg_median": 10.02,
+      "wrist_pos_err_mm_median": 39.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14881,
+     "interpolated": 394,
+     "mean_hand": 529,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.966,
+    "observed_fraction_of_valid": 0.9665,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.73,
+     "smplx": 2.45
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.0,
+      "p90": 8.9
+     },
+     "registered": {
+      "median": 7.0,
+      "p90": 8.8
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:43:36.797897+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/LM04/session_009",
   "family": "locomanipulation",
   "primitive": "LM04",
   "source_session": "20261023/LM04/20261023_055033_session72"
  },
+ "task": {
+  "primitive": "LM04",
+  "instruction": "Take an object down from the highest shelf you can comfortably reach, carry it across the room, and set it on the floor. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+ },
  "objects": [
   {
    "name": "HighRack",

actions/locomanipulation/LM04/session_009/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96ffb8fe1ff467ddb7ef790d1c732e2362c40d15c9a0a88a71d59a6340029ffd
+size 5231651

actions/locomanipulation/LM04/session_009/motions/head_rig.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6d9cbe218ec3cb09226c18f45cb10f0d24d6563d7b8cf701c50bac1c8f1f958c
-size 1185781
+oid sha256:cb72b76d7a7b185e6b111387c13c236edd69f5271ca93727b710204d3e53a314
+size 1185605

actions/locomanipulation/LM04/session_009/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:cb9e3ffe1c7b76f6344747905eeb1bab2ab8be29404c3cef9c04d455d2c14be4
-size 6080207
+oid sha256:08343fb7fd7f5d45d7eedecbf0d0f683f02bf3b41915ade4747fd42a64c9071d
+size 10795645