Fix A v2: lock static T to PCA-MAD pts centroid (= viser wireframe) instead of pose_t. Median |T - pca| 53mm → 3.6mm.

Fix A (static T = OBB center via pose_t) + Fix B (deterministic per-hand chirality grasp alignment)

3-fix bake: clip-global dominant override + per-hand sub-segments + per-stretch static T median

Palm-centroid grasp placement: mesh centroid → palm centroid (XZ) + mesh bottom → palm (Y). Median 1.3mm, 67% under 5mm.

Closed-form grasp placement: mesh centroid xz + thickness y at palm (median 9.5mm, 48% perfect)

full_se3 bind: bake writes T (per-segment hand-rigid + STATIC T-lock)

Merge full-se3-rigid: per-segment rigid hand-object bind + STATIC T-lock

Merge flow3r-obj-94: Flow3r-fused depth on 94 HOI clips (object jitter median 0.50× MoGe-2) (29/94)

Flow-aware grasp veto v3: rebuild-grasp Pass 1 + fraction-of-moving + contact short-circuit; +88% grasp coverage (5235→9822 frames)

Full pipeline rerun: flow-aware grasp veto + phase_d Pass 2 + depth_align + bake

grasped_both: mesh.z follows farther wrist (62 clips, hand_driven.py) (19/62)

Upload 106 clip(s) (4.93 GB) — --oo8_XIuOM_799.5_809.8, --oo8_XIuOM_900.3_917.4, -0RheyDV3a0_474.8_487.3, ... (+103 more) [2026-05-26T01:19:40+00:00]

Upload 107 clip(s) (4.98 GB) — --oo8_XIuOM_799.5_809.8, --oo8_XIuOM_900.3_917.4, -0RheyDV3a0_474.8_487.3, ... (+104 more) [2026-05-25T23:55:16+00:00]

Upload 107 clip(s) (4.98 GB) — --oo8_XIuOM_799.5_809.8, --oo8_XIuOM_900.3_917.4, -0RheyDV3a0_474.8_487.3, ... (+104 more) [2026-05-25T21:46:05+00:00]

Upload 107 clip(s) (4.97 GB) — --oo8_XIuOM_799.5_809.8, --oo8_XIuOM_900.3_917.4, -0RheyDV3a0_474.8_487.3, ... (+104 more) [2026-05-25T20:15:23+00:00]

Upload 107 clip(s) (4.99 GB) — --oo8_XIuOM_799.5_809.8, --oo8_XIuOM_900.3_917.4, -0RheyDV3a0_474.8_487.3, ... (+104 more) [2026-05-25T19:08:17+00:00]

Upload 107 clip(s) (4.99 GB) — --oo8_XIuOM_799.5_809.8, --oo8_XIuOM_900.3_917.4, -0RheyDV3a0_474.8_487.3, ... (+104 more) [2026-05-25T18:08:43+00:00]

Upload 105 clip(s) (4.85 GB) — --oo8_XIuOM_799.5_809.8, --oo8_XIuOM_900.3_917.4, -0RheyDV3a0_474.8_487.3, ... (+102 more) [2026-05-24T23:34:53+00:00]

Upload 105 clip(s) (4.85 GB) — --oo8_XIuOM_799.5_809.8, --oo8_XIuOM_900.3_917.4, -0RheyDV3a0_474.8_487.3, ... (+102 more) [2026-05-24T19:31:55+00:00]

Upload 105 clip(s) (4.85 GB) — --oo8_XIuOM_799.5_809.8, --oo8_XIuOM_900.3_917.4, -0RheyDV3a0_474.8_487.3, ... (+102 more) [2026-05-24T04:59:07+00:00]

Transplant packet (from _122.7_130.7 oid 4) + silver can (from _56.3_60.3 oid 3) into _48.4_60.3

Upload 25 clip(s) (1.27 GB) — -1r9yl-P-Ao_86.3_90.8, -7rFmF9Aka8_94.7_102.2, -821U1ZYZOs_245.0_249.0, ... (+22 more) [2026-05-24T00:19:54+00:00] (5/25)

Recover 15 clips from stale-overwrite of canonical-init-frame fix (5/15)

Upload 82 clip(s) (3.71 GB) — -821U1ZYZOs_245.0_249.0, -821U1ZYZOs_321.4_325.4, -821U1ZYZOs_326.1_330.3, ... (+79 more) [2026-05-22T09:07:28+00:00] (8/82)

Upload 105 clip(s) (4.85 GB) — --oo8_XIuOM_799.5_809.8, --oo8_XIuOM_900.3_917.4, -0RheyDV3a0_474.8_487.3, ... (+102 more) [2026-05-22T07:52:33+00:00] (31/105)

SAM3D hand_iou-gate rerun: 26 clips refreshed (D-track + filters + export) (8/26)

Upload 82 clip(s) (3.72 GB) — -7uLbtVsmQs_874.8_879.1, -7uLbtVsmQs_874.8_879.9, -821U1ZYZOs_245.0_249.0, ... (+79 more) [2026-05-19T10:23:31+00:00] (10/82)

Upload 105 clip(s) (4.88 GB) — --oo8_XIuOM_799.5_809.8, --oo8_XIuOM_900.3_917.4, -0RheyDV3a0_474.8_487.3, ... (+102 more) [2026-05-19T09:13:29+00:00] (32/105)

Upload 105 clip(s) (4.88 GB) — --oo8_XIuOM_799.5_809.8, --oo8_XIuOM_900.3_917.4, -0RheyDV3a0_474.8_487.3, ... (+102 more) [2026-05-19T07:26:37+00:00] (32/105)

Upload 105 clip(s) (4.97 GB) — --oo8_XIuOM_799.5_809.8, --oo8_XIuOM_900.3_917.4, -0RheyDV3a0_474.8_487.3, ... (+102 more) [2026-05-19T03:41:50+00:00] (32/105)

Upload 105 clip(s) (4.97 GB) — --oo8_XIuOM_799.5_809.8, --oo8_XIuOM_900.3_917.4, -0RheyDV3a0_474.8_487.3, ... (+102 more) [2026-05-18T07:24:56+00:00] (32/105)

Upload 105 clip(s) (4.97 GB) — --oo8_XIuOM_799.5_809.8, --oo8_XIuOM_900.3_917.4, -0RheyDV3a0_474.8_487.3, ... (+102 more) [2026-05-17T18:46:58+00:00] (32/105)

Upload 64 clip(s) (3.00 GB) — -7uLbtVsmQs_874.8_879.9, -821U1ZYZOs_245.0_249.0, -821U1ZYZOs_321.4_325.4, ... (+61 more) [2026-05-17T18:02:06+00:00] (9/64)

2026-05-15: hand+object Z-axis Gaussian smooth (σ=5 frames, MAD outlier reject) (4/8)

2026-05-15: refresh 11 mask-drift clips with hand-proximity init_frame penalty (2/11)

2026-05-15: refresh 22 mask-drift clips (Q1×2 outlier penalty + new init_frames + D-track) (8/22)

Upload 112 clip(s) (4.99 GB) — --oo8_XIuOM_799.5_809.8, --oo8_XIuOM_900.3_917.4, -0RheyDV3a0_474.8_487.3, ... (+109 more) [2026-05-12T20:49:27+00:00] (32/112)

v1.11: pure canonical_scale (hf_reference simplified). No ICP / Umeyama / sanity refinement. Mesh scale = SAM3D canonical_scale directly; R = canonical_rotation_quat; per-frame translation = obs centroid + Gaussian smooth.

v1.10: restore original 5-stage tracking (estimate_anchor_pose FGR+ICP+Umeyama + track_6dof flow propagation). 40/225 oids get full 6DoF tracking; rest fall back to centroid translation + identity rotation. Scale closer to A100 reference (cereal box 0.219 vs reference 0.263).

v1.9: scale_correction is now ABSOLUTE (PLY units→world m, matches A100 reference convention). Robust min-enclose algorithm: per-axis [2,98]% pre-filter + median over axes of per-axis 90% enclose (depth-fringe-resistant)

v1.8: tracking uses SAM3D canonical_rotation_quat (per-clip initial orientation) + min-scale-95% enclose algorithm; object_pose.bin now reads pose_track_info.T_seq (full 6DoF tracked pose, not stale PCA OBB)

Step 1 full re-run @ 15fps with compound+fallback prompts and containment merge (55 clips)

Re-export 21 clips: scene.json objects/[] now populated from sam3_obj_data when no SAM3D mesh; silver-can clip uses 'silver can' instead of 'can of olives' (SAM3 hits 4/4 vs 3/4)

Replace samples/ with 21-clip Step 1 test batch (no SAM3D, no 6DoF)

Refresh dataset: 48 trim-reviewed clips, manual SAM3 prompts, full descriptions in scene.json