Document retarget/ subfolder

Add per-robot retarget results under samples/<clip>/retarget/

Tracking-summary panel: fix state_fractions to sum grasped_{l,r,both}; add dominant_hand + mesh size; drop legacy fit/iou/chamfer.

Manual Option-C: align metal cylinder long axis to obs PCA median direction (in hand frame), keeping rigid hand bind.

Manual 180-deg X-axis flip of olive oil bottle (oid=1) in -Ovm27e3Ezo to fix upside-down rendering.

Re-bake -Ovm27e3Ezo_243.7_248.5 with updated obj_0/obj_1 SAM3D meshes.

Fingertip-vote tiebreak for all-'both' grasp clips (no explicit L/R). Affects 5 oids that were silently mis-assigned to default L: tablet, tin can, dvd drive, cutting board, knife → R.

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

Loosen Fix A again: drop major>=5 threshold when minor=0 (single-hand evidence); require n_both>=5 instead. Affects 2 more clips (wooden spoon, etc.)

Loosen Fix A: fold 'both' frames to dominant hand when minor=0 (single-hand evidence). Affects 18 clips, 9 visibly switch L→R attachment for paper-towel/oil-bottle/etc.

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

Fix A (static T = OBB center via pose_t) + Fix B (deterministic per-hand chirality grasp alignment) (15/106)

Fix A (static T = OBB center via pose_t) + Fix B (deterministic per-hand chirality grasp alignment) (14/106)

Fix A (static T = OBB center via pose_t) + Fix B (deterministic per-hand chirality grasp alignment) (13/106)

Fix A (static T = OBB center via pose_t) + Fix B (deterministic per-hand chirality grasp alignment) (12/106)

Fix A (static T = OBB center via pose_t) + Fix B (deterministic per-hand chirality grasp alignment) (11/106)

Fix A (static T = OBB center via pose_t) + Fix B (deterministic per-hand chirality grasp alignment) (10/106)

Fix A (static T = OBB center via pose_t) + Fix B (deterministic per-hand chirality grasp alignment) (9/106)

Fix A (static T = OBB center via pose_t) + Fix B (deterministic per-hand chirality grasp alignment) (8/106)

Fix A (static T = OBB center via pose_t) + Fix B (deterministic per-hand chirality grasp alignment) (7/106)

Fix A (static T = OBB center via pose_t) + Fix B (deterministic per-hand chirality grasp alignment) (6/106)

Fix A (static T = OBB center via pose_t) + Fix B (deterministic per-hand chirality grasp alignment) (5/106)

Fix A (static T = OBB center via pose_t) + Fix B (deterministic per-hand chirality grasp alignment) (4/106)

Fix A (static T = OBB center via pose_t) + Fix B (deterministic per-hand chirality grasp alignment) (3/106)

Fix A (static T = OBB center via pose_t) + Fix B (deterministic per-hand chirality grasp alignment) (2/106)

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

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: -1r9yl-P-Ao_60.4_68.4

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

full_se3: -1r9yl-P-Ao_231.8_241.5

full_se3: -1bQTExN1Ts_230.8_242.8

full_se3: -0RheyDV3a0_48.6_55.3

full_se3: -0RheyDV3a0_474.8_487.3

full_se3: --oo8_XIuOM_900.3_917.4

full_se3: --oo8_XIuOM_799.5_809.8

full_se3: XgOQwJUVqkU_350.1_354.1

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

Merge full-se3-rigid: per-segment rigid hand-object bind + STATIC T-lock (object jitter ~0 within grasp, static objects perfectly fixed) (20/106)

Merge full-se3-rigid: per-segment rigid hand-object bind + STATIC T-lock (object jitter ~0 within grasp, static objects perfectly fixed) (19/106)

Merge full-se3-rigid: per-segment rigid hand-object bind + STATIC T-lock (object jitter ~0 within grasp, static objects perfectly fixed) (18/106)

Merge full-se3-rigid: per-segment rigid hand-object bind + STATIC T-lock (object jitter ~0 within grasp, static objects perfectly fixed) (17/106)

Merge full-se3-rigid: per-segment rigid hand-object bind + STATIC T-lock (object jitter ~0 within grasp, static objects perfectly fixed) (16/106)

Merge full-se3-rigid: per-segment rigid hand-object bind + STATIC T-lock (object jitter ~0 within grasp, static objects perfectly fixed) (15/106)

Merge full-se3-rigid: per-segment rigid hand-object bind + STATIC T-lock (object jitter ~0 within grasp, static objects perfectly fixed) (14/106)

Merge full-se3-rigid: per-segment rigid hand-object bind + STATIC T-lock (object jitter ~0 within grasp, static objects perfectly fixed) (13/106)

Merge full-se3-rigid: per-segment rigid hand-object bind + STATIC T-lock (object jitter ~0 within grasp, static objects perfectly fixed) (12/106)

Merge full-se3-rigid: per-segment rigid hand-object bind + STATIC T-lock (object jitter ~0 within grasp, static objects perfectly fixed) (11/106)