Release update 2026-11-05: new sessions, instructions, annotations (part 119)

actions/locomanipulation/LM19/session_038/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d1b949221a09b4339efa883e6b072445ec6c1ad95c84208dd7d4aeec9497782
+size 66502484

actions/locomanipulation/LM19/session_038/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56bc8df901cecde8ddd7ca19da97e2e6d1defb01d361e42ad9a1d8661a1d11e7
+size 66494247

actions/locomanipulation/LM19/session_038/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f204cddab1a753a981a367109347bb33cade318dcf0967f2e036b4df2d969d0b
+size 66577270

actions/locomanipulation/LM19/session_038/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c2e2e49a2dd0d9b13ae7629f9af858a32d0b2636cea98ac2f6744c9e73448dc
+size 66603478

actions/locomanipulation/LM19/session_038/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d8da9d357cf17ed96faa9ec2adfcafc77144a4ab954177988d0ae006b768d47
+size 66547257

actions/locomanipulation/LM19/session_038/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c906001ecc3931f4b116474fbe87a47190baea986dfb54f17fdfda0395450fd1
+size 66615514

actions/locomanipulation/LM19/session_038/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e4dfe80450ab370b90a8492f1c1368cdfc6d058439e00cbc32e43ba3dc51716
+size 70776540

actions/locomanipulation/LM19/session_038/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fc857c8dd04700e28ff6060d3f907cb84f3f09305575e01458b4b193bb91bb6
+size 34062946

actions/locomanipulation/LM19/session_038/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f395728e0a6260cfb3135704cd760f84ece36de2c4bc23cf21fdd4e116a2d358
+size 35683811

actions/locomanipulation/LM20/session_001/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": "LM20",
+ "instruction": "Carry the large light object across the room, back and forth. It is awkward rather than heavy, so hold it however works.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 143.966533,
+   "video": "left_eye",
+   "video_t_start": 0.03902713417298509
+  }
+ ],
+ "episodes": [
+  {
+   "id": "e7712ada-f640-4bb4-9ae5-280540a31b72",
+   "segment": "segment1",
+   "action": "LM20",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 135.713,
+   "t_start": 0.039,
+   "t_end": 135.752,
+   "instruction": "Carry the large light object across the room, back and forth. It is awkward rather than heavy, so hold it however works."
+  }
+ ]
+}

actions/locomanipulation/LM20/session_001/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f7d2fd1b17fb507d8ca95af9653938b553012e7bb8c72fce3050bbb290d96b4
+size 829376

actions/locomanipulation/LM20/session_001/meta.json

@@ -327,8 +327,8 @@
   "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": {
@@ -510,10 +510,132 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.8873257914242693
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 17.84,
+    "offset_rotvec": [
+     -0.0982,
+     -0.289,
+     0.0616
+    ],
+    "dev_deg": {
+     "median": 13.89,
+     "p90": 51.33
+    },
+    "samples": 2967,
+    "accepted": 2338,
+    "wrist_pos_err_mm_median": 71.1,
+    "per_camera": {
+     "head": {
+      "samples": 2967,
+      "accepted": 2338,
+      "gate_deg": 30.0,
+      "offset_deg": 17.84,
+      "tier": "primary",
+      "dev_deg_median": 13.89,
+      "wrist_pos_err_mm_median": 71.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9450,
+     "interpolated": 2202,
+     "mean_hand": 5610,
+     "no_body_fit": 22
+    },
+    "observed_fraction": 0.6741,
+    "observed_fraction_of_valid": 0.675,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 19.49,
+     "smplx": 0.92
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.6,
+      "p90": 11.1
+     },
+     "registered": {
+      "median": 11.4,
+      "p90": 12.9
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 22.29,
+    "offset_rotvec": [
+     -0.2819,
+     0.2648,
+     0.0413
+    ],
+    "dev_deg": {
+     "median": 26.11,
+     "p90": 56.97
+    },
+    "samples": 781,
+    "accepted": 460,
+    "wrist_pos_err_mm_median": 158.8,
+    "per_camera": {
+     "head": {
+      "samples": 781,
+      "accepted": 460,
+      "gate_deg": 30.0,
+      "offset_deg": 22.29,
+      "tier": "primary",
+      "dev_deg_median": 26.11,
+      "wrist_pos_err_mm_median": 158.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 1848,
+     "interpolated": 972,
+     "mean_hand": 14442,
+     "no_body_fit": 22
+    },
+    "observed_fraction": 0.1632,
+    "observed_fraction_of_valid": 0.1634,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 24.77,
+     "smplx": 0.97
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.3,
+      "p90": 11.3
+     },
+     "registered": {
+      "median": 6.4,
+      "p90": 8.5
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T16:12:02.734620+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/LM20/session_001",
   "family": "locomanipulation",
   "primitive": "LM20",
   "source_session": "20260910/LM20/20260910_060846_session113"
- }
+ },
+ "task": {
+  "primitive": "LM20",
+  "instruction": "Carry the large light object across the room, back and forth. It is awkward rather than heavy, so hold it however works."
+ },
+ "objects": [
+  {
+   "name": "BigBox#1",
+   "object_type": "BigBox",
+   "source": "vision",
+   "pose_frame": "mesh"
+  }
+ ]
 }

actions/locomanipulation/LM20/session_001/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acd9b0cf15d5c888c51c12879b1d68257c25d1fc163063aabec1727627ba5bb2
+size 2708362

actions/locomanipulation/LM20/session_001/motions/objects.json

@@ -0,0 +1,39 @@
+{
+ "session": "20260910/LM20/20260910_060846_session113",
+ "generated_at_utc": "2026-10-29T12:29:15.444819+00:00",
+ "generated_by": "scripts/export_objects.py",
+ "frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)",
+ "grid": "body grid (smplx.npz t / frame_index)",
+ "held_by": "from mocap hands",
+ "instances": [
+  {
+   "name": "BigBox#1",
+   "object_type": "BigBox",
+   "source": "vision",
+   "pose_frame": "mesh",
+   "mesh": "objects/BigBox/bigbox.ply",
+   "calibration": null,
+   "valid_pct": 99.95,
+   "verified_pct": null,
+   "moving_pct": 99.95,
+   "vision_source": "vision (WAPR anchored at fitted pickup / put-down rest poses)"
+  }
+ ],
+ "absent": [],
+ "object_list": {
+  "status": "corrected",
+  "notes": [
+   "objects from LM20 mocap takes, declared nothing"
+  ],
+  "declared": [],
+  "listed": [
+   {
+    "name": "BigBox#1",
+    "object": "BigBox",
+    "source": "primitive_prior (BigBox in 18/18 LM20 mocap takes)",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/locomanipulation/LM20/session_001/motions/objects.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8744e8143a16f60ed3d16b1b8f80164c9c8d392ad8fe2c82916382dc0333b163
+size 835889

actions/locomanipulation/LM20/session_001/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c587f98a942d986d8f17fbe9727e5704b3f881231d0d70cb9b0e6a11bfd92bf4
-size 6657272
+oid sha256:dc375e185d115f95f5f33ac9042a6edad072c335a61310c9e92da1aacda1f918
+size 9357389