Release update 2026-11-05: new sessions, instructions, annotations (part 120)

actions/locomanipulation/LM20/session_002/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": 128.966567,
+   "video": "left_eye",
+   "video_t_start": 0.03880112577220496
+  }
+ ],
+ "episodes": [
+  {
+   "id": "975a09d7-09da-4733-8c44-cd9bd93636b4",
+   "segment": "segment1",
+   "action": "LM20",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 121.894,
+   "t_start": 0.0388,
+   "t_end": 121.9328,
+   "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_002/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:665bbcc51abe8c2ea0701ab1e190f029823a46402ddbbe406333a4f4bb4df07c
+size 742018

actions/locomanipulation/LM20/session_002/meta.json

@@ -326,8 +326,8 @@
   "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": {
@@ -509,10 +509,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.8035920494056532
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 20.52,
+    "offset_rotvec": [
+     -0.3015,
+     -0.1116,
+     0.1578
+    ],
+    "dev_deg": {
+     "median": 18.66,
+     "p90": 70.42
+    },
+    "samples": 1830,
+    "accepted": 1278,
+    "wrist_pos_err_mm_median": 82.6,
+    "per_camera": {
+     "head": {
+      "samples": 1830,
+      "accepted": 1278,
+      "gate_deg": 30.0,
+      "offset_deg": 20.52,
+      "tier": "primary",
+      "dev_deg_median": 18.66,
+      "wrist_pos_err_mm_median": 82.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 5112,
+     "interpolated": 340,
+     "mean_hand": 10010,
+     "no_body_fit": 22
+    },
+    "observed_fraction": 0.3521,
+    "observed_fraction_of_valid": 0.3526,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 28.8,
+     "smplx": 1.19
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.1,
+      "p90": 8.8
+     },
+     "registered": {
+      "median": 7.2,
+      "p90": 9.1
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 17.53,
+    "offset_rotvec": [
+     -0.1394,
+     0.2634,
+     0.0697
+    ],
+    "dev_deg": {
+     "median": 16.78,
+     "p90": 46.37
+    },
+    "samples": 1572,
+    "accepted": 1159,
+    "wrist_pos_err_mm_median": 91.4,
+    "per_camera": {
+     "head": {
+      "samples": 1572,
+      "accepted": 1159,
+      "gate_deg": 30.0,
+      "offset_deg": 17.53,
+      "tier": "primary",
+      "dev_deg_median": 16.78,
+      "wrist_pos_err_mm_median": 91.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 4646,
+     "interpolated": 1150,
+     "mean_hand": 9666,
+     "no_body_fit": 22
+    },
+    "observed_fraction": 0.3743,
+    "observed_fraction_of_valid": 0.3749,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 16.69,
+     "smplx": 2.86
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.0,
+      "p90": 12.5
+     },
+     "registered": {
+      "median": 9.2,
+      "p90": 12.8
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T16:11:53.928127+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_002",
   "family": "locomanipulation",
   "primitive": "LM20",
   "source_session": "20260910/LM20/20260910_061132_session114"
+ },
+ "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."
  }
 }

actions/locomanipulation/LM20/session_002/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7b30760a899d594144c16ddce85f15f3a6e35e08ea77e7b8ce63b5aa9925e9c
+size 2452590

actions/locomanipulation/LM20/session_002/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:16650712feae743b7d6b96539e5d3186a1d8e205c5d859aa6e7477603539f7b1
-size 5959476
+oid sha256:1ed19e2aa25922bf5a57bd51103ad2744c534c314f6ff14556970473108ed687
+size 8140294

actions/locomanipulation/LM20/session_003/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": 133.966667,
+   "video": "left_eye",
+   "video_t_start": 0.039118248973649905
+  }
+ ],
+ "episodes": [
+  {
+   "id": "f5c84a42-5a87-44ca-b813-9f85c1838465",
+   "segment": "segment1",
+   "action": "LM20",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 126.721,
+   "t_start": 0.0391,
+   "t_end": 126.7601,
+   "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_003/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee817d11c62fe1a6985be5a0919ca16a2bfb80f834059eb06c86381690d45d54
+size 770437

actions/locomanipulation/LM20/session_003/meta.json

@@ -326,8 +326,8 @@
   "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": {
@@ -508,10 +508,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.0412322235515166
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 15.5,
+    "offset_rotvec": [
+     -0.0869,
+     -0.2388,
+     0.0929
+    ],
+    "dev_deg": {
+     "median": 29.65,
+     "p90": 57.17
+    },
+    "samples": 790,
+    "accepted": 402,
+    "wrist_pos_err_mm_median": 121.0,
+    "per_camera": {
+     "head": {
+      "samples": 790,
+      "accepted": 402,
+      "gate_deg": 30.0,
+      "offset_deg": 15.5,
+      "tier": "primary",
+      "dev_deg_median": 29.65,
+      "wrist_pos_err_mm_median": 121.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 1578,
+     "interpolated": 1170,
+     "mean_hand": 13329,
+     "no_body_fit": 7
+    },
+    "observed_fraction": 0.1709,
+    "observed_fraction_of_valid": 0.1709,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 28.06,
+     "smplx": 1.82
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.1,
+      "p90": 10.1
+     },
+     "registered": {
+      "median": 5.4,
+      "p90": 7.4
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 20.16,
+    "offset_rotvec": [
+     -0.2521,
+     0.2314,
+     0.0819
+    ],
+    "dev_deg": {
+     "median": 11.37,
+     "p90": 34.96
+    },
+    "samples": 2680,
+    "accepted": 2330,
+    "wrist_pos_err_mm_median": 68.0,
+    "per_camera": {
+     "head": {
+      "samples": 2680,
+      "accepted": 2330,
+      "gate_deg": 30.0,
+      "offset_deg": 20.16,
+      "tier": "primary",
+      "dev_deg_median": 11.37,
+      "wrist_pos_err_mm_median": 68.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9348,
+     "interpolated": 1296,
+     "mean_hand": 5433,
+     "no_body_fit": 7
+    },
+    "observed_fraction": 0.6618,
+    "observed_fraction_of_valid": 0.6621,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 17.38,
+     "smplx": 1.4
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.1,
+      "p90": 11.5
+     },
+     "registered": {
+      "median": 8.6,
+      "p90": 12.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T16:11:46.221503+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_003",
   "family": "locomanipulation",
   "primitive": "LM20",
   "source_session": "20260910/LM20/20260910_061357_session115"
+ },
+ "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."
  }
 }

actions/locomanipulation/LM20/session_003/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cb73e09c044ba09b90d08a6b56ec400bb2faef88322ab66309a8d6c10436423
+size 2501523

actions/locomanipulation/LM20/session_003/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f35993b46c406260d75e44df041bd4b09e5a324d5779a694a50f4e1d2d47b389
-size 6204037
+oid sha256:c302f840bbf43011f80ecd9cdc8ba632c18d71823024a90698fd3de6b316d983
+size 8816330

actions/locomanipulation/LM20/session_004/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": 133.966633,
+   "video": "left_eye",
+   "video_t_start": 0.039234124212307764
+  }
+ ],
+ "episodes": [
+  {
+   "id": "4f8938cc-96c6-46ad-bd6f-1383dd334818",
+   "segment": "segment1",
+   "action": "LM20",
+   "quality": "valid",
+   "start_s": 1.053,
+   "end_s": 126.745,
+   "t_start": 1.0922,
+   "t_end": 126.7842,
+   "instruction": "Carry the large light object across the room, back and forth. It is awkward rather than heavy, so hold it however works."
+  }
+ ]
+}