Release update 2026-11-05: 5760 sessions, instructions, annotations (part 314)

actions/locomanipulation/LM09/session_009/cameras/gsi_online_calibration.json

@@ -0,0 +1,256 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.408
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.6624,
+   "gate_fail": [],
+   "held_out_px_after": 0.505,
+   "held_out_px_before": 20.592,
+   "inliers": 1575,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.0477,
+    -0.1488,
+    -1.282
+   ],
+   "split_deg": 0.0499,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.3893,
+   "gate_fail": [],
+   "held_out_px_after": 0.409,
+   "held_out_px_before": 8.755,
+   "inliers": 3657,
+   "position_fitted": true,
+   "position_mm": [
+    1.32,
+    -27.55,
+    -5.24
+   ],
+   "position_sigma_mm": 0.197,
+   "position_split_mm": 0.683,
+   "rotvec_deg": [
+    1.7698,
+    -0.7955,
+    1.3941
+   ],
+   "split_deg": 0.0595,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.6598,
+   "gate_fail": [],
+   "held_out_px_after": 0.682,
+   "held_out_px_before": 10.337,
+   "inliers": 1657,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.7376,
+    -1.2725,
+    2.959
+   ],
+   "split_deg": 0.0825,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.984,
+   "gate_fail": [],
+   "held_out_px_after": 0.407,
+   "held_out_px_before": 5.257,
+   "inliers": 3527,
+   "position_fitted": true,
+   "position_mm": [
+    2.53,
+    -20.3,
+    -0.4
+   ],
+   "position_sigma_mm": 0.209,
+   "position_split_mm": 0.968,
+   "rotvec_deg": [
+    1.8146,
+    -1.4018,
+    1.9096
+   ],
+   "split_deg": 0.051,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.5377,
+   "gate_fail": [],
+   "held_out_px_after": 0.385,
+   "held_out_px_before": 2.317,
+   "inliers": 4029,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2279,
+    -0.4147,
+    -0.2552
+   ],
+   "split_deg": 0.0333,
+   "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": "b8cb7c985d8b0c838a39e8031b74b0f27acc443ceb64e83ac96a9a9544c9b6a3",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "912800d3f21359b24950833ee3e5c02bbf7c9b2d46b38381dd8a290410bb5d16",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "70bc845300d005c47e8d92148b053548eafef8355a511b45e6a8c53f466eefad",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "768df26c98c8bec6b3886eb7ab4cb97c9b0f86f32370ee6815109e11261006ee",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "5baf8a130477c6ef",
+ "kind": "online_calibration",
+ "output_sha256": "48b40136d15bb40e7e4b0779b5f5b9337883b5b061fb00f09e04acbf38ce1f00",
+ "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": 43.846,
+  "left_eye": 48.173,
+  "left_front": 53.253,
+  "right": 50.326,
+  "right_eye": 49.256,
+  "right_front": 53.714
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   16817840208000,
+   16818840208000,
+   16825840208000,
+   16826840208000,
+   16828840208000,
+   16829840208000,
+   16833840208000,
+   16834840219111,
+   16835840241333,
+   16840840219111,
+   16841840241333,
+   16842840296888,
+   16843840219111,
+   16847840230222,
+   16848840252444,
+   16851840230222,
+   16852840219111,
+   16854840374666,
+   16855840230222,
+   16862840230222,
+   16863840374666,
+   16866840285777,
+   16867840296888,
+   16868840252444,
+   16872840219111,
+   16873840219111,
+   16875840308000,
+   16876840219111,
+   16881840230222,
+   16882840241333,
+   16885840252444,
+   16886840296888,
+   16888840352444,
+   16889840230222,
+   16892840252444,
+   16893840252444,
+   16895840252444,
+   16896840285777,
+   16902840219111,
+   16903840296888,
+   16906840230222,
+   16907840219111,
+   16908840296888,
+   16909840241333,
+   16912840219111,
+   16913840252444,
+   16919840252444,
+   16920840363555,
+   16921840263555,
+   16924840374666,
+   16925840219111,
+   16929840252444,
+   16930840252444,
+   16934840252444,
+   16935840363555,
+   16937840374666,
+   16938840219111
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM09/session_009/cameras/poses.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:42095a2171eeb87e4d32e53b2a67c1478d691b8a7ebdd3136481703996840fd8
-size 1110487
+oid sha256:6032b518f976d36f56f269b0faaf02e5e48059722476479fe6d20f387ef93cb0
+size 1110522

actions/locomanipulation/LM09/session_009/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dea322833e7b159b4968d7eee17a5bc4282f3812451f252736781949de5b057a
+size 727705

actions/locomanipulation/LM09/session_009/meta.json

@@ -263,44 +263,44 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
  "canonical": {
-  "generated_at_utc": "2026-10-26T10:25:48.302208+00:00",
+  "generated_at_utc": "2026-11-03T09:16:56.228545+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": 22.0,
@@ -321,11 +321,11 @@
   "gravity_check": {
    "static_samples": 967,
    "g_world_mean_m_s2": [
-    0.1507,
-    -0.1093,
-    9.8186
+    0.1506,
+    -0.1086,
+    9.8187
    ],
-   "tilt_from_z_deg": 1.086,
+   "tilt_from_z_deg": 1.083,
    "tilt_from_z_deg_before_levelling": 1.172,
    "magnitude_m_s2": 9.8204
   },
@@ -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": {
@@ -583,12 +583,126 @@
   },
   "applied": 5
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 13.2,
+    "offset_rotvec": [
+     0.0045,
+     -0.1852,
+     0.137
+    ],
+    "dev_deg": {
+     "median": 11.94,
+     "p90": 164.96
+    },
+    "samples": 3724,
+    "accepted": 2798,
+    "wrist_pos_err_mm_median": 50.2,
+    "per_camera": {
+     "head": {
+      "samples": 3724,
+      "accepted": 2798,
+      "gate_deg": 30.0,
+      "offset_deg": 13.2,
+      "tier": "primary",
+      "dev_deg_median": 11.94,
+      "wrist_pos_err_mm_median": 50.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11180,
+     "interpolated": 352,
+     "mean_hand": 3596,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.7623,
+    "observed_fraction_of_valid": 0.7623,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 15.54,
+     "smplx": NaN
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": NaN,
+      "p90": NaN
+     },
+     "registered": {
+      "median": NaN,
+      "p90": NaN
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 11.16,
+    "offset_rotvec": [
+     -0.0242,
+     -0.1095,
+     -0.1592
+    ],
+    "dev_deg": {
+     "median": 9.6,
+     "p90": 20.66
+    },
+    "samples": 3681,
+    "accepted": 3504,
+    "wrist_pos_err_mm_median": 35.1,
+    "per_camera": {
+     "head": {
+      "samples": 3681,
+      "accepted": 3504,
+      "gate_deg": 30.0,
+      "offset_deg": 11.16,
+      "tier": "primary",
+      "dev_deg_median": 9.6,
+      "wrist_pos_err_mm_median": 35.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14090,
+     "interpolated": 894,
+     "mean_hand": 144,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9905,
+    "observed_fraction_of_valid": 0.9905,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 11.57,
+     "smplx": 2.23
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.9,
+      "p90": 8.6
+     },
+     "registered": {
+      "median": 7.0,
+      "p90": 8.8
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:43:06.233809+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/LM09/session_009",
   "family": "locomanipulation",
   "primitive": "LM09",
   "source_session": "20261023/LM09/20261023_050143_session60"
  },
+ "task": {
+  "primitive": "LM09",
+  "instruction": "Take an object from the highest shelf you can comfortably reach, carry it across, and place it on the lowest shelf. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+ },
  "objects": [
   {
    "name": "HighRack",

actions/locomanipulation/LM09/session_009/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2accf25b27b5ad683172e9699dbc46d05e6295254fbe3ae684aac4999443b862
+size 5008768

actions/locomanipulation/LM09/session_009/motions/head_rig.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7159dbcbd0e70ea12f8f9f0d6b0f3579ddb81075443597dd626d26aafadd36ed
-size 1134101
+oid sha256:bcdb1f3292d6544dff450723e3355878f5b0954062e111bde7adf43528d08a3d
+size 1133976

actions/locomanipulation/LM09/session_009/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a25675fe020966cf77952d9d9d0346278ac1ac769cacd4133d97bc67fcf6e05b
-size 5815860
+oid sha256:2f3cb6abaa34d2d9d9f0f0381eb652d30dcef63219b0cbf52e8d35b35dd985e5
+size 10374512