Release update 2026-11-05: new sessions, instructions, annotations (part 207)

actions/locomanipulation/LM25/session_029/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ecf3f81ca8d8b2d42e07cc91f50da647402f10491708536a08901fb6c726844
+size 720418

actions/locomanipulation/LM25/session_029/meta.json

@@ -537,6 +537,10 @@
   "primitive": "LM25",
   "source_session": "20261015/LM25/20261015_103950_session63"
  },
+ "task": {
+  "primitive": "LM25",
+  "instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down."
+ },
  "objects": [
   {
    "name": "BigBox",

actions/locomanipulation/LM25/session_029/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce903410901564c3a3e01ef3f767f6ca3516045a89a626959c7eb2b1e20c6687
+size 4282505

actions/locomanipulation/LM25/session_030/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": "LM25",
+ "instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 123.966733,
+   "video": "left_eye",
+   "video_t_start": 0.03961768284265074
+  }
+ ],
+ "episodes": [
+  {
+   "id": "fccec704-99e4-4080-b850-e8aac493d681",
+   "segment": "segment1",
+   "action": "LM25",
+   "quality": "valid",
+   "start_s": 1.247,
+   "end_s": 120.131,
+   "t_start": 1.2866,
+   "t_end": 120.1706,
+   "instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down."
+  }
+ ]
+}

actions/locomanipulation/LM25/session_030/cameras/gsi_online_calibration.json

@@ -0,0 +1,259 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.426
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 2.3956,
+   "gate_fail": [],
+   "held_out_px_after": 0.559,
+   "held_out_px_before": 13.035,
+   "inliers": 1711,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.7121,
+    -1.4294,
+    0.8743
+   ],
+   "split_deg": 0.1288,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.9899,
+   "gate_fail": [],
+   "held_out_px_after": 0.984,
+   "held_out_px_before": 3.668,
+   "inliers": 2804,
+   "position_fitted": true,
+   "position_mm": [
+    5.22,
+    -15.6,
+    6.02
+   ],
+   "position_sigma_mm": 0.488,
+   "position_split_mm": 4.693,
+   "rotvec_deg": [
+    0.1721,
+    -0.4158,
+    0.8817
+   ],
+   "split_deg": 0.3115,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 3.5254,
+   "gate_fail": [],
+   "held_out_px_after": 0.521,
+   "held_out_px_before": 8.451,
+   "inliers": 3067,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.9983,
+    -0.9542,
+    2.7431
+   ],
+   "split_deg": 0.1387,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9741,
+   "gate_fail": [],
+   "held_out_px_after": 0.458,
+   "held_out_px_before": 6.738,
+   "inliers": 4988,
+   "position_fitted": true,
+   "position_mm": [
+    2.54,
+    -10.69,
+    6.67
+   ],
+   "position_sigma_mm": 0.351,
+   "position_split_mm": 2.634,
+   "rotvec_deg": [
+    0.5136,
+    -0.9586,
+    1.6475
+   ],
+   "split_deg": 0.0379,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0015,
+   "gate_fail": [],
+   "held_out_px_after": 0.371,
+   "held_out_px_before": 6.289,
+   "inliers": 6002,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.8591,
+    -0.3999,
+    -0.3243
+   ],
+   "split_deg": 0.021,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e3296774a321bb51",
+ "factory_root_name": "e3296774a321bb51",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "be72c8a4a936aac54cc5afb07d7c19c7a2918b94bd5a90f0e47f789306b863b9",
+   "source_sha256": "2bf43346f9825da1c051096d46ceb924252959c0c3fed4ac9c166c6096121ae0"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "063f33ef9fe2a4aa1a3d69b1b3797453b533f0e0ec20a1ba77ee6b95964c3466",
+   "source_sha256": "b80f390816142bc598f6a58e17810083d07270f17802c79b0d33dade12e1a7ed"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "8ae9d720ba8b09a80cce822da06c10c21153a6e74b64f0430ca9692b6ac8cb4d",
+   "source_sha256": "55ee2a9af25410709c73762b726e1a41e5450b277090a5256571601dd5fd719b"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "290a9ee37bee6643d606866214b1c0ad59588275b6788e40789e909702158605",
+   "source_sha256": "b2fcef709086e19cb082ae12586aebd1a6fa9a92db90015c1c5a641f4588dfc7"
+  }
+ },
+ "input_fingerprint": "a00c88cfd2270bc2",
+ "kind": "online_calibration",
+ "output_sha256": "131e8e233732b45bfe5de699768f2f9b8e622802fbfbf57ac3450ce532ee87aa",
+ "overlap": {
+  "left-right": 0.489,
+  "left_eye-left": 0.684,
+  "left_eye-right": 0.685,
+  "left_eye-right_eye": 1.0,
+  "left_front-left": 0.466,
+  "left_front-left_eye": 0.717,
+  "left_front-right": 0.447,
+  "left_front-right_eye": 0.72,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.672,
+  "right_eye-right": 0.676,
+  "right_front-left": 0.469,
+  "right_front-left_eye": 0.746,
+  "right_front-right": 0.472,
+  "right_front-right_eye": 0.74
+ },
+ "picture_change": {
+  "left": 30.305,
+  "left_eye": 26.216,
+  "left_front": 35.652,
+  "right": 29.213,
+  "right_eye": 26.069,
+  "right_front": 34.949
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   15125174781000,
+   15126174781000,
+   15132174781000,
+   15133174781000,
+   15134174781000,
+   15135174781000,
+   15136174836555,
+   15137174792111,
+   15140174814333,
+   15141174781000,
+   15146174803222,
+   15147174814333,
+   15150174836555,
+   15151174792111,
+   15154174814333,
+   15155174781000,
+   15156174792111,
+   15157174781000,
+   15163174814333,
+   15164174858777,
+   15165174781000,
+   15166174858777,
+   15169174803222,
+   15170174792111,
+   15173174869888,
+   15174174781000,
+   15178174792111,
+   15179174814333,
+   15182174814333,
+   15183174869888,
+   15187174792111,
+   15188174825444,
+   15189174836555,
+   15196174792111,
+   15197174947666,
+   15198174803222,
+   15202174792111,
+   15203174781000,
+   15204174925444,
+   15205174781000,
+   15209174781000,
+   15210174781000,
+   15213174825444,
+   15214174781000,
+   15218174814333,
+   15219174881000,
+   15223174781000,
+   15224174781000,
+   15225174792111,
+   15226174792111,
+   15228174925444,
+   15229174947666,
+   15235174869888,
+   15236174792111,
+   15237174792111,
+   15238174792111,
+   15242174936555,
+   15243174792111
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM25/session_030/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cafac2ea3c11b059a5d2304bb249cfd1693b2356ec6a51b2bc464d630d92e79
+size 714287

actions/locomanipulation/LM25/session_030/meta.json

@@ -530,6 +530,10 @@
   "primitive": "LM25",
   "source_session": "20261015/LM25/20261015_104212_session64"
  },
+ "task": {
+  "primitive": "LM25",
+  "instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down."
+ },
  "objects": [
   {
    "name": "BigBox",

actions/locomanipulation/LM25/session_030/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fc1709fd40345bc4f4fcd95331fd024e662af49b1e011385dd4b21098ef80b1
+size 4070295

actions/locomanipulation/LM25/session_031/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": "LM25",
+ "instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 150.9333,
+   "video": "left_eye",
+   "video_t_start": -0.20208832016941375
+  }
+ ],
+ "episodes": [
+  {
+   "id": "03e2fd20-1e34-47e3-8089-9afadcaf8bdb",
+   "segment": "segment1",
+   "action": "LM25",
+   "quality": "valid",
+   "start_s": 1.72,
+   "end_s": 147.888,
+   "t_start": 1.5179,
+   "t_end": 147.6859,
+   "instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down."
+  }
+ ]
+}

actions/locomanipulation/LM25/session_031/cameras/gsi_online_calibration.json

@@ -0,0 +1,257 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.354
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.5272,
+   "gate_fail": [],
+   "held_out_px_after": 0.559,
+   "held_out_px_before": 14.755,
+   "inliers": 1015,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.2897,
+    -0.0255,
+    -0.8175
+   ],
+   "split_deg": 0.0487,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.5133,
+   "gate_fail": [],
+   "held_out_px_after": 0.414,
+   "held_out_px_before": 5.478,
+   "inliers": 2485,
+   "position_fitted": true,
+   "position_mm": [
+    -0.46,
+    -27.58,
+    -3.37
+   ],
+   "position_sigma_mm": 0.276,
+   "position_split_mm": 1.392,
+   "rotvec_deg": [
+    1.7632,
+    -0.7106,
+    1.644
+   ],
+   "split_deg": 0.0356,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.5989,
+   "gate_fail": [],
+   "held_out_px_after": 0.489,
+   "held_out_px_before": 11.42,
+   "inliers": 1686,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.6179,
+    -1.1324,
+    3.0087
+   ],
+   "split_deg": 0.0098,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 3.3774,
+   "gate_fail": [],
+   "held_out_px_after": 0.424,
+   "held_out_px_before": 5.728,
+   "inliers": 2673,
+   "position_fitted": true,
+   "position_mm": [
+    2.0,
+    -17.35,
+    -1.84
+   ],
+   "position_sigma_mm": 0.306,
+   "position_split_mm": 0.721,
+   "rotvec_deg": [
+    2.1685,
+    -1.083,
+    2.3519
+   ],
+   "split_deg": 0.0407,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.3774,
+   "gate_fail": [],
+   "held_out_px_after": 0.298,
+   "held_out_px_before": 2.051,
+   "inliers": 4204,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2513,
+    -0.279,
+    0.0375
+   ],
+   "split_deg": 0.0338,
+   "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": "093ceef43682966b50155a5f6298bcf7f86e2cb445ee78e57c8164fe881e8b94",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "cb9a9920fd8389af8e88b1c337e76b85dd328347ffca5e57e392c8a95eb7def3",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "6efa856e534bd0d3786c80daefa6832f599cc09d56471210abd4a4a128804d7d",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "9b39f5082bfdbf20eb906d03f82110518bee9157bf094144c258ac1c38f7a5a2",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "8175475a54cf9bc7",
+ "kind": "online_calibration",
+ "output_sha256": "0f9e5542e7626b8982c9428dc58cdd4fcf621dc60d5b15c91e8f2aceb12b2ac3",
+ "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": 39.5,
+  "left_eye": 35.404,
+  "left_front": 43.93,
+  "right": 39.528,
+  "right_eye": 39.03,
+  "right_front": 42.597
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   487564882555,
+   488564893666,
+   491564860333,
+   492564893666,
+   496564871444,
+   497564882555,
+   502564882555,
+   503565027000,
+   507564860333,
+   508564904777,
+   512564893666,
+   513564882555,
+   517564871444,
+   518564871444,
+   522564871444,
+   523564860333,
+   526564882555,
+   527564893666,
+   531564871444,
+   532564893666,
+   537564860333,
+   538564893666,
+   540565004777,
+   541564893666,
+   543564904777,
+   544564938111,
+   552564860333,
+   553564949222,
+   554565015888,
+   558564860333,
+   559565004777,
+   565564893666,
+   566564893666,
+   570564927000,
+   571564860333,
+   574564882555,
+   575564938111,
+   580564893666,
+   581564938111,
+   586564904777,
+   587564860333,
+   588564893666,
+   595564882555,
+   596565015888,
+   598564882555,
+   599565015888,
+   603564860333,
+   604564882555,
+   609564860333,
+   610564893666,
+   616564949222,
+   617564893666,
+   620564893666,
+   621564893666,
+   625564893666,
+   626564893666,
+   630565027000,
+   631564860333
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM25/session_031/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f70e76bafc2abb7497828cc31dcd4566f2839f6e39ecb3befc378e50bd6f8e9a
+size 868954

actions/locomanipulation/LM25/session_031/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": {
@@ -516,10 +516,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 31.32,
+    "offset_rotvec": [
+     0.4385,
+     -0.3247,
+     -0.0343
+    ],
+    "dev_deg": {
+     "median": 13.57,
+     "p90": 22.95
+    },
+    "samples": 4247,
+    "accepted": 4077,
+    "wrist_pos_err_mm_median": 29.3,
+    "per_camera": {
+     "head": {
+      "samples": 4247,
+      "accepted": 4077,
+      "gate_deg": 30.0,
+      "offset_deg": 31.32,
+      "tier": "primary",
+      "dev_deg_median": 13.57,
+      "wrist_pos_err_mm_median": 29.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 16384,
+     "interpolated": 1216,
+     "mean_hand": 491,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9729,
+    "observed_fraction_of_valid": 0.9729,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 31.26,
+     "smplx": 0.62
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 4.5,
+      "p90": 6.4
+     },
+     "registered": {
+      "median": 4.8,
+      "p90": 6.2
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 55.64,
+    "offset_rotvec": [
+     0.8372,
+     0.4631,
+     0.1666
+    ],
+    "dev_deg": {
+     "median": 41.99,
+     "p90": 77.44
+    },
+    "samples": 1880,
+    "accepted": 652,
+    "wrist_pos_err_mm_median": 374.1,
+    "per_camera": {
+     "head": {
+      "samples": 1880,
+      "accepted": 652,
+      "gate_deg": 30.0,
+      "offset_deg": 55.64,
+      "tier": "primary",
+      "dev_deg_median": 41.99,
+      "wrist_pos_err_mm_median": 374.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 2588,
+     "interpolated": 1950,
+     "mean_hand": 13553,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.2508,
+    "observed_fraction_of_valid": 0.2508,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 86.04,
+     "smplx": 179.42
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 13.0,
+      "p90": 19.5
+     },
+     "registered": {
+      "median": 12.6,
+      "p90": 18.6
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:34:46.103274+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/LM25/session_031",
   "family": "locomanipulation",
   "primitive": "LM25",
   "source_session": "20261019/LM25/20261019_090723_session55"
+ },
+ "task": {
+  "primitive": "LM25",
+  "instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down."
  }
 }

actions/locomanipulation/LM25/session_031/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:813478eab50709376881619ed286a64013a2e192fa1c828e13fd1495bf90cdda
+size 4237975

actions/locomanipulation/LM25/session_031/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7773694fb52979a6d1cfd7ac2f74ed8b9c9b7bbf3cd657a365beff7d3b35488e
-size 6945980
+oid sha256:5b5dcaf47a60fa6ec8b2522bde6af9130bc4f2f80ba40e546a46f080c4857c00
+size 10980935

actions/locomanipulation/LM25/session_032/cameras/gsi_online_calibration.json

@@ -0,0 +1,247 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.437
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 2.4874,
+   "gate_fail": [],
+   "held_out_px_after": 0.587,
+   "held_out_px_before": 6.799,
+   "inliers": 2042,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.0921,
+    -1.2135,
+    0.581
+   ],
+   "split_deg": 0.067,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.561,
+   "gate_fail": [],
+   "held_out_px_after": 0.442,
+   "held_out_px_before": 3.345,
+   "inliers": 3239,
+   "position_fitted": true,
+   "position_mm": [
+    -2.83,
+    -16.08,
+    2.34
+   ],
+   "position_sigma_mm": 0.227,
+   "position_split_mm": 2.729,
+   "rotvec_deg": [
+    -0.0336,
+    -0.0326,
+    0.559
+   ],
+   "split_deg": 0.0523,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 3.269,
+   "gate_fail": [],
+   "held_out_px_after": 0.79,
+   "held_out_px_before": 6.151,
+   "inliers": 1481,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.0391,
+    -1.0478,
+    2.3304
+   ],
+   "split_deg": 0.1855,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9454,
+   "gate_fail": [],
+   "held_out_px_after": 0.417,
+   "held_out_px_before": 4.174,
+   "inliers": 3937,
+   "position_fitted": true,
+   "position_mm": [
+    0.18,
+    -13.85,
+    2.56
+   ],
+   "position_sigma_mm": 0.219,
+   "position_split_mm": 2.105,
+   "rotvec_deg": [
+    0.3867,
+    -0.8641,
+    1.6995
+   ],
+   "split_deg": 0.0695,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0238,
+   "gate_fail": [],
+   "held_out_px_after": 0.531,
+   "held_out_px_before": 6.3,
+   "inliers": 3846,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.7449,
+    -0.2945,
+    -0.6377
+   ],
+   "split_deg": 0.0619,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e3296774a321bb51",
+ "factory_root_name": "e3296774a321bb51",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "86060cd810210bd9d1f9710c69e9567beaf658ccac009407db2cc9ae3b798124",
+   "source_sha256": "2bf43346f9825da1c051096d46ceb924252959c0c3fed4ac9c166c6096121ae0"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "5e416e9468f916fdcc9774c89b2d0c9a3d293058ad9f09b41b50cf5e57079470",
+   "source_sha256": "b80f390816142bc598f6a58e17810083d07270f17802c79b0d33dade12e1a7ed"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "486f8bc22d13de71f8de126d809668b8b98dc0521fdcbff83ea693500f9e08af",
+   "source_sha256": "55ee2a9af25410709c73762b726e1a41e5450b277090a5256571601dd5fd719b"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "26b80ca45c2ec5814afca28e39962e3a331ddd0cd100772f67629a8a7f7d431e",
+   "source_sha256": "b2fcef709086e19cb082ae12586aebd1a6fa9a92db90015c1c5a641f4588dfc7"
+  }
+ },
+ "input_fingerprint": "cdea06178fef8af7",
+ "kind": "online_calibration",
+ "output_sha256": "5b381ddebdc529d8a8359fb1f58395706a656761585153b964bc93c10fef54fb",
+ "overlap": {
+  "left-right": 0.489,
+  "left_eye-left": 0.684,
+  "left_eye-right": 0.685,
+  "left_eye-right_eye": 1.0,
+  "left_front-left": 0.466,
+  "left_front-left_eye": 0.717,
+  "left_front-right": 0.447,
+  "left_front-right_eye": 0.72,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.672,
+  "right_eye-right": 0.676,
+  "right_front-left": 0.469,
+  "right_front-left_eye": 0.746,
+  "right_front-right": 0.472,
+  "right_front-right_eye": 0.74
+ },
+ "picture_change": {
+  "left": 42.503,
+  "left_eye": 36.547,
+  "left_front": 42.807,
+  "right": 48.105,
+  "right_eye": 37.737,
+  "right_front": 42.146
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   3447278190777,
+   3448278179666,
+   3450278201888,
+   3451278201888,
+   3452278179666,
+   3453278179666,
+   3454278179666,
+   3455278179666,
+   3456278179666,
+   3457278190777,
+   3458278179666,
+   3459278190777,
+   3461278190777,
+   3462278190777,
+   3463278190777,
+   3464278179666,
+   3465278179666,
+   3466278190777,
+   3467278190777,
+   3468278190777,
+   3469278190777,
+   3470278190777,
+   3471278190777,
+   3472278168555,
+   3473278179666,
+   3474278179666,
+   3475278190777,
+   3476278201888,
+   3477278301888,
+   3478278168555,
+   3479278179666,
+   3480278313000,
+   3481278190777,
+   3482278190777,
+   3483278190777,
+   3484278179666,
+   3485278213000,
+   3486278179666,
+   3487278201888,
+   3488278190777,
+   3489278190777,
+   3490278168555,
+   3491278179666,
+   3492278179666,
+   3493278179666,
+   3494278179666
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM25/session_032/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:652ba59215afe827400f1f8226e86365b95db85e1cb3e9c21c33f6c15b2cf647
+size 764501

actions/locomanipulation/LM25/session_032/meta.json

@@ -282,7 +282,7 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
  "canonical": {
-  "generated_at_utc": "2026-10-26T10:25:51.806187+00:00",
+  "generated_at_utc": "2026-11-03T09:16:58.614507+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": [
@@ -372,8 +372,8 @@
   "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": {
@@ -517,12 +517,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 13.76,
+    "offset_rotvec": [
+     0.0204,
+     -0.2326,
+     0.056
+    ],
+    "dev_deg": {
+     "median": 9.47,
+     "p90": 19.06
+    },
+    "samples": 3645,
+    "accepted": 3548,
+    "wrist_pos_err_mm_median": 49.5,
+    "per_camera": {
+     "head": {
+      "samples": 3645,
+      "accepted": 3548,
+      "gate_deg": 30.0,
+      "offset_deg": 13.76,
+      "tier": "primary",
+      "dev_deg_median": 9.47,
+      "wrist_pos_err_mm_median": 49.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14336,
+     "interpolated": 1308,
+     "mean_hand": 312,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9804,
+    "observed_fraction_of_valid": 0.9804,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.94,
+     "smplx": 0.84
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.9,
+      "p90": 11.3
+     },
+     "registered": {
+      "median": 9.5,
+      "p90": 11.3
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 5.45,
+    "offset_rotvec": [
+     0.0626,
+     -0.0502,
+     -0.051
+    ],
+    "dev_deg": {
+     "median": 9.36,
+     "p90": 21.75
+    },
+    "samples": 3680,
+    "accepted": 3517,
+    "wrist_pos_err_mm_median": 50.3,
+    "per_camera": {
+     "head": {
+      "samples": 3680,
+      "accepted": 3517,
+      "gate_deg": 30.0,
+      "offset_deg": 5.45,
+      "tier": "primary",
+      "dev_deg_median": 9.36,
+      "wrist_pos_err_mm_median": 50.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14246,
+     "interpolated": 1446,
+     "mean_hand": 264,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9835,
+    "observed_fraction_of_valid": 0.9835,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 9.6,
+     "smplx": 0.81
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 12.4,
+      "p90": 17.1
+     },
+     "registered": {
+      "median": 10.5,
+      "p90": 15.1
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:42:33.658073+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/LM25/session_032",
   "family": "locomanipulation",
   "primitive": "LM25",
   "source_session": "20261023/LM25/20261023_083856_session31"
  },
+ "task": {
+  "primitive": "LM25",
+  "instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down."
+ },
  "objects": [
   {
    "name": "BigBox",

actions/locomanipulation/LM25/session_032/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a466fc751b8177497c4e3724d47e47dd29c0a1d21f1daa185bd93c28b2a11252
+size 4970584

actions/locomanipulation/LM25/session_032/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c060d8140db2567ce28f5bbbf5f78d9d857038c6c17f828af5efb2c36ed956e0
-size 6088992
+oid sha256:e3ab00c3fbd0aa9d5a0d9c63584a263b579f7a7f2ca9260cc086610840c3a84a
+size 11378752

actions/locomanipulation/LM25/session_033/cameras/poses.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce153d67c2707c2bea3c369c972120ec56fbdcb8638c60d32defe93239f9488c
+size 1305235

actions/locomanipulation/LM25/session_033/meta.json

@@ -0,0 +1,514 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261027/LM25/20261027_042044_session51",
+ "session_id": "20261027_042044_session51",
+ "primitive": "LM25",
+ "batch": "20261027",
+ "participant": "wangjingjing",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "c9205ac6e17d2d5c",
+  "left": "452031d7af00ef6f",
+  "right": "60a6f081bbe60b0d"
+ },
+ "generated_at_utc": "2026-10-28T19:51:57.617176+00:00",
+ "generated_by": "scripts/sync_dataset.py",
+ "time_base": {
+  "definition": "t = 0 at the first solved Body0 frame; seconds; each stream has its own t, nothing resampled",
+  "mocap_rate_hz": 120.0,
+  "mocap_rate_fix": null,
+  "first_solved_frame": 0,
+  "duration_s": 149.15833333333333,
+  "mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
+ },
+ "alignment": {
+  "reference_imu": "imu_head_right",
+  "model": "offset (median of windows)",
+  "mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
+  "offset_s": -0.081947,
+  "rate": 0.0,
+  "global_lag_s": -0.08,
+  "peak_corr": 0.9832,
+  "reference_imu_first_sample_s": 14073.399318386,
+  "windows": {
+   "n_windows": 13,
+   "window_corr_median": 0.9871193967037907,
+   "drift_ppm": -326.99103291500666,
+   "drift_se_ppm": 186.18084663240217,
+   "drift_ms_over_take": -48.77071255927325,
+   "lag_scatter_ms": 23.104435458423865,
+   "lag_range_ms": 100.55160814177268
+  }
+ },
+ "units": {
+  "mocap": "millimetres, Nokov world, Y-up (unchanged)",
+  "y_up_to_z_up": [
+   [
+    1.0,
+    0.0,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   [
+    0.0,
+    1.0,
+    0.0
+   ]
+  ],
+  "acc": "m/s^2 (8192 LSB/g)",
+  "gyro": "rad/s (65.536 LSB/dps)",
+  "mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
+  "quaternions": "xyzw, Nokov global"
+ },
+ "calibration": {
+  "device": "c9205ac6e17d2d5c",
+  "status": "ok",
+  "date": "2026-10-21"
+ },
+ "streams": {
+  "sensors": {
+   "imu_head_right": {
+    "n_acc": 30342,
+    "n_gyro": 30336,
+    "t_start": -0.09377876785478868,
+    "t_end": 149.3632228621456
+   },
+   "imu_head_left": {
+    "n_acc": 30153,
+    "n_gyro": 30147,
+    "t_start": 0.019346690144769738,
+    "t_end": 149.52817364314538
+   },
+   "imu_wrist_right": {
+    "n_acc": 30084,
+    "n_gyro": 30098,
+    "t_start": -0.933275637856101,
+    "t_end": 147.74782256514405
+   },
+   "imu_wrist_left": {
+    "n_acc": 30106,
+    "n_gyro": 30105,
+    "t_start": -0.9453680238555956,
+    "t_end": 147.74772931814474
+   },
+   "mag_head": {
+    "n": 14960,
+    "t_start": 0.10277773214434426,
+    "t_end": 149.69274588614567
+   },
+   "mag_wrist_right": {
+    "n": 14867,
+    "t_start": -0.9156970788543243,
+    "t_end": 147.7437720821446
+   },
+   "mag_wrist_left": {
+    "n": 14868,
+    "t_start": -0.9276102328557011,
+    "t_end": 147.7415277841457
+   }
+  },
+  "videos": {
+   "left": {
+    "fps": 30.0,
+    "start_device_s": 14073.518309,
+    "frames": 4474,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0026284356473863946,
+    "file": "robocap_segment1_video_left.mp4",
+    "t_start": 0.03967162579206494,
+    "t_end": 149.13961562579166,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right": {
+    "fps": 30.0,
+    "start_device_s": 14073.518268,
+    "frames": 4474,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0024181146161434135,
+    "file": "robocap_segment1_video_right.mp4",
+    "t_start": 0.03942030476096413,
+    "t_end": 149.13935330476048,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_front": {
+    "fps": 30.0,
+    "start_device_s": 14073.518297,
+    "frames": 4474,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002458947067077895,
+    "file": "robocap_segment1_video_left_front.mp4",
+    "t_start": 0.03949013721208182,
+    "t_end": 149.1394231372116,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_front": {
+    "fps": 30.0,
+    "start_device_s": 14073.518322,
+    "frames": 4474,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.0021420814739499558,
+    "file": "robocap_segment1_video_right_front.mp4",
+    "t_start": 0.03919827161840082,
+    "t_end": 149.139142271618,
+    "clock": "device",
+    "calibrated": true
+   },
+   "left_eye": {
+    "fps": 30.0,
+    "start_device_s": 14073.518281,
+    "frames": 4474,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002801984596191448,
+    "file": "robocap_segment1_video_left_eye.mp4",
+    "t_start": 0.03981717474121403,
+    "t_end": 149.13975017474073,
+    "clock": "device",
+    "calibrated": true
+   },
+   "right_eye": {
+    "fps": 30.0,
+    "start_device_s": 14073.518245,
+    "frames": 4474,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": 0.002930366888236734,
+    "file": "robocap_segment1_video_right_eye.mp4",
+    "t_start": 0.039909557032982476,
+    "t_end": 149.1398425570325,
+    "clock": "device",
+    "calibrated": true
+   },
+   "wrist_left": {
+    "fps": 30.0,
+    "start_device_s": 14072.555935,
+    "frames": 4460,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
+    "t_start": -0.9253308098549008,
+    "t_end": 147.70715619014587,
+    "clock": "device",
+    "calibrated": false
+   },
+   "wrist_right": {
+    "fps": 30.0,
+    "start_device_s": 14072.547308,
+    "frames": 4460,
+    "pts_gaps": 0,
+    "timing": "pts",
+    "timeshift_cam_imu_s": null,
+    "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
+    "t_start": -0.9339578098559708,
+    "t_end": 147.69885419014386,
+    "clock": "device",
+    "calibrated": false
+   },
+   "third_person": {
+    "file": "mocap/mocap-LM25-S01-wangjingjing-01p1-1.mp4",
+    "frames": 4475,
+    "fps": 30.0,
+    "clock": "nokov (frame index)",
+    "t_start": 0.0,
+    "t_end": 149.13333333333333
+   }
+  }
+ },
+ "flags": [],
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
+ "rig_tracker": {
+  "definition": "c9205ac6e17d2d5c/20261027-morning/labels-230415/session-d7aa32472e58c371",
+  "R_tracker0_imu0": [
+   [
+    -0.6607713,
+    0.37200499,
+    -0.65191532
+   ],
+   [
+    0.73057923,
+    0.11955893,
+    -0.67227945
+   ],
+   [
+    -0.17214902,
+    -0.92049875,
+    -0.35078023
+   ]
+  ],
+  "p_tracker0_imu0_m": [
+   -0.11701370147817818,
+   -0.005737152951408729,
+   -0.1223680307561783
+  ],
+  "rig_check": {
+   "gyro_samples": 4406,
+   "gyro_max_deg": 2.5,
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 2.13
+  },
+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
+ },
+ "canonical": {
+  "generated_at_utc": "2026-10-28T23:23:31.687769+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": [
+   [
+    0.9999917896,
+    0.0040522361,
+    1.40821e-05
+   ],
+   [
+    -1.40821e-05,
+    0.0069501878,
+    -0.9999758471
+   ],
+   [
+    -0.0040522361,
+    0.9999676366,
+    0.0069501878
+   ]
+  ],
+  "scale_nokov_to_canon": 0.001,
+  "T_canon_nokov_mm": [
+   [
+    0.00099999179,
+    4.052236e-06,
+    1.4082e-08,
+    0.0
+   ],
+   [
+    -1.4082e-08,
+    6.950188e-06,
+    -0.000999975847,
+    0.0
+   ],
+   [
+    -4.052236e-06,
+    0.000999967637,
+    6.950188e-06,
+    0.0
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ],
+  "block": "20261027-morning",
+  "block_assignment": "trc",
+  "tilt_removed_deg": 0.46096270469771533,
+  "plane_status": "ok",
+  "floor": {
+   "sole_marker_p1_mm": 28.5,
+   "headtop_p95_mm": 1518.8
+  },
+  "gravity_check": {
+   "static_samples": 2219,
+   "g_world_mean_m_s2": [
+    -0.0619,
+    0.0392,
+    9.7718
+   ],
+   "tilt_from_z_deg": 0.429,
+   "tilt_from_z_deg_before_levelling": 0.618,
+   "magnitude_m_s2": 9.7721
+  },
+  "rig_tracker_definition": "c9205ac6e17d2d5c/20261027-morning/labels-230415/session-d7aa32472e58c371",
+  "rig_check": {
+   "status": "ok",
+   "dropped_marker": null,
+   "gyro_deg": 2.13
+  },
+  "camera_pose_source": "provider T_tracker0_cam",
+  "files": [
+   "mocap_zup.npz",
+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
+  "generated_at_utc": "2026-10-29T07:12:52.329217+00:00",
+  "generated_by": "scripts/fit_smplx_dataset.py",
+  "file": "smplx.npz",
+  "gender": "female",
+  "n_betas": 16,
+  "betas_source": "participant median (derived/smplx/participants.json)",
+  "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)",
+   "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
+   "hand_marker_offsets_m": {
+    "left": {
+     "LHandIn": [
+      0.050693199038505554,
+      -0.002823026617988944,
+      0.027280334383249283
+     ],
+     "LHandOut": [
+      0.03367796540260315,
+      0.04534658044576645,
+      0.013894877396523952
+     ]
+    },
+    "right": {
+     "RHandIn": [
+      -0.03419943526387215,
+      0.012440716847777367,
+      0.021994514390826225
+     ],
+     "RHandOut": [
+      0.0002363063395023346,
+      0.0285479798913002,
+      0.03905901685357094
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 5.1,
+   "p95_frame": 12.64
+  },
+  "worst_markers": [
+   "WaistLFront 24mm",
+   "LElbowIn 16mm",
+   "RForearm 14mm",
+   "LKneeIn 12mm",
+   "RElbowIn 11mm"
+  ],
+  "valid_fraction": 0.9718,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 14.5,
+    "p5": 9.8
+   },
+   "frames_checked": 580,
+   "stature_mm": 1502.4
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 15.31
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 87.23,
+    "Q_rotvec": [
+     1.47751,
+     -0.1754,
+     0.32215
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 81.4,
+    "opposite_sign_bend_deg": 110.1,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 2.13,
+    "hand_vs_marker_frame_deg": {
+     "before": 86.86,
+     "after": 2.13
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": 78.05,
+     "wrist_twist_deg_after": {
+      "median": 0.23,
+      "iqr": [
+       -1.5,
+       1.9
+      ]
+     },
+     "wrist_total_deg_median_after": 25.9,
+     "markers_on_forearm": [
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 142.61,
+    "Q_rotvec": [
+     2.3311,
+     -0.43285,
+     -0.75744
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 120.9,
+    "opposite_sign_bend_deg": 91.6,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 2.1,
+    "hand_vs_marker_frame_deg": {
+     "before": 143.51,
+     "after": 2.1
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -114.41,
+     "wrist_twist_deg_after": {
+      "median": -0.19,
+      "iqr": [
+       -1.7,
+       1.5
+      ]
+     },
+     "wrist_total_deg_median_after": 49.6,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-10-29T07:12:55.651468+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/locomanipulation/LM25/session_033",
+  "family": "locomanipulation",
+  "primitive": "LM25",
+  "source_session": "20261027/LM25/20261027_042044_session51"
+ },
+ "task": {
+  "primitive": "LM25",
+  "instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down."
+ },
+ "objects": [
+  {
+   "name": "LittleBox6",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  }
+ ]
+}

actions/locomanipulation/LM25/session_033/motions/head_rig.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbf374e7f9669e72b580ca5432ffb77a312bce94b0614a42003c81c424470d10
+size 1332941

actions/locomanipulation/LM25/session_033/motions/markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:880c4c200470fed31fa5977eab454711ca2be1eee1309d504bc90e21cca6d752
+size 9954811