Release update 2026-11-05: new sessions, instructions, annotations (part 238)

actions/locomanipulation/LM27/session_025/cameras/gsi_online_calibration.json

@@ -0,0 +1,255 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.425
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.5358,
+   "gate_fail": [],
+   "held_out_px_after": 0.502,
+   "held_out_px_before": 20.172,
+   "inliers": 1304,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.29,
+    -0.118,
+    -0.8249
+   ],
+   "split_deg": 0.1262,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.4273,
+   "gate_fail": [],
+   "held_out_px_after": 0.507,
+   "held_out_px_before": 6.442,
+   "inliers": 2233,
+   "position_fitted": true,
+   "position_mm": [
+    -1.19,
+    -26.76,
+    -3.19
+   ],
+   "position_sigma_mm": 0.259,
+   "position_split_mm": 1.69,
+   "rotvec_deg": [
+    1.689,
+    -0.6995,
+    1.5967
+   ],
+   "split_deg": 0.0428,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.4353,
+   "gate_fail": [],
+   "held_out_px_after": 0.58,
+   "held_out_px_before": 8.549,
+   "inliers": 1593,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.5614,
+    -1.1649,
+    2.8295
+   ],
+   "split_deg": 0.0515,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 3.2791,
+   "gate_fail": [],
+   "held_out_px_after": 0.443,
+   "held_out_px_before": 5.574,
+   "inliers": 2782,
+   "position_fitted": true,
+   "position_mm": [
+    2.6,
+    -19.44,
+    -2.29
+   ],
+   "position_sigma_mm": 0.246,
+   "position_split_mm": 0.443,
+   "rotvec_deg": [
+    2.0153,
+    -1.1272,
+    2.3283
+   ],
+   "split_deg": 0.022,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.3921,
+   "gate_fail": [],
+   "held_out_px_after": 0.366,
+   "held_out_px_before": 2.478,
+   "inliers": 2701,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2515,
+    -0.2996,
+    0.0265
+   ],
+   "split_deg": 0.0227,
+   "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": "4b4a362a220f0c57c9ac8ecd7dd1cb72e75e63b1dc89241d0094c37d165c6fc1",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "26f857badd398d03a891897c497fe7420a528691d328173717e43856f88959fa",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "a734705702a8a38af0396bc289eaab9c927a679e57494b983dcd3afa616ea448",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "053fffb22f00e311e18f1558c394c7a7ef25a14c89ace1e787c0b7bced4f09dc",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "a3fbecf8e301b294",
+ "kind": "online_calibration",
+ "output_sha256": "ca36ba2d4972c41408bbcd6234106c5aa3edead7c64bc7dd20d7d211c24e473e",
+ "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": 48.992,
+  "left_eye": 47.948,
+  "left_front": 52.898,
+  "right": 48.782,
+  "right_eye": 51.041,
+  "right_front": 51.21
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   834285682666,
+   835285649333,
+   837285671555,
+   838285793777,
+   841285682666,
+   842285682666,
+   843285660444,
+   846285671555,
+   847285671555,
+   851285671555,
+   852285671555,
+   854285671555,
+   855285649333,
+   857285693777,
+   858285671555,
+   860285682666,
+   861285649333,
+   864285693777,
+   865285682666,
+   866285660444,
+   870285671555,
+   871285793777,
+   872285671555,
+   873285660444,
+   878285671555,
+   879285671555,
+   880285671555,
+   884285671555,
+   885285671555,
+   888285671555,
+   889285793777,
+   890285671555,
+   892285660444,
+   893285749333,
+   894285682666,
+   897285671555,
+   898285671555,
+   902285671555,
+   903285660444,
+   905285660444,
+   906285682666,
+   908285660444,
+   909285649333,
+   912285671555,
+   913285660444,
+   914285682666,
+   915285671555,
+   919285671555,
+   920285649333,
+   921285727111,
+   924285660444,
+   925285682666,
+   929285671555,
+   930285682666,
+   932285671555,
+   933285660444
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM27/session_025/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee771e07e8d7ee21f9988200e92a2dd877b1b32fff4a5a90f5881612dc9b77dc
+size 606700

actions/locomanipulation/LM27/session_025/meta.json

@@ -527,6 +527,10 @@
   "primitive": "LM27",
   "source_session": "20261019/LM27/20261019_091310_session57"
  },
+ "task": {
+  "primitive": "LM27",
+  "instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take."
+ },
  "objects": [
   {
    "name": "BigBox",

actions/locomanipulation/LM27/session_025/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67393bed56d0b5f9645183b405bb859aaf71cfcd15b364fad5e94bc16b941810
+size 3306206

actions/locomanipulation/LM27/session_026/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": "LM27",
+ "instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 128.966678,
+   "video": "left_eye",
+   "video_t_start": 0.039393576975234906
+  }
+ ],
+ "episodes": [
+  {
+   "id": "df634bcf-75b5-43a5-84f6-be6647bcbab2",
+   "segment": "segment1",
+   "action": "LM27",
+   "quality": "valid",
+   "start_s": 0.862,
+   "end_s": 125.188,
+   "t_start": 0.9014,
+   "t_end": 125.2274,
+   "instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take."
+  }
+ ]
+}

actions/locomanipulation/LM27/session_026/cameras/gsi_online_calibration.json

@@ -0,0 +1,239 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 53,
+    "median_px": 6.13,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.41
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 2.363,
+   "gate_fail": [],
+   "held_out_px_after": 0.552,
+   "held_out_px_before": 5.107,
+   "inliers": 1366,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.9253,
+    -1.2987,
+    0.4361
+   ],
+   "split_deg": 0.0524,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.7032,
+   "gate_fail": [],
+   "held_out_px_after": 0.42,
+   "held_out_px_before": 3.436,
+   "inliers": 3398,
+   "position_fitted": true,
+   "position_mm": [
+    0.6,
+    -12.02,
+    6.45
+   ],
+   "position_sigma_mm": 0.22,
+   "position_split_mm": 1.568,
+   "rotvec_deg": [
+    -0.008,
+    -0.1846,
+    0.6785
+   ],
+   "split_deg": 0.0492,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.5679,
+   "gate_fail": [],
+   "held_out_px_after": 0.62,
+   "held_out_px_before": 7.044,
+   "inliers": 1966,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.0002,
+    -1.0396,
+    2.7655
+   ],
+   "split_deg": 0.0426,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.8719,
+   "gate_fail": [],
+   "held_out_px_after": 0.417,
+   "held_out_px_before": 5.65,
+   "inliers": 4363,
+   "position_fitted": true,
+   "position_mm": [
+    0.82,
+    -10.86,
+    6.16
+   ],
+   "position_sigma_mm": 0.233,
+   "position_split_mm": 2.299,
+   "rotvec_deg": [
+    0.4078,
+    -0.8657,
+    1.6087
+   ],
+   "split_deg": 0.0693,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.9751,
+   "gate_fail": [],
+   "held_out_px_after": 0.377,
+   "held_out_px_before": 6.175,
+   "inliers": 3902,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.6822,
+    -0.409,
+    -0.564
+   ],
+   "split_deg": 0.0116,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e3296774a321bb51",
+ "factory_root_name": "e3296774a321bb51",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "4c908c48662267f25ea7b855509826b1d7ee01aa2b219869b6c32d097e0dd3ac",
+   "source_sha256": "2bf43346f9825da1c051096d46ceb924252959c0c3fed4ac9c166c6096121ae0"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "65697518f49befd3b6f4d2f9f07a54c4bab004dce54ca065a5247315ccee5118",
+   "source_sha256": "b80f390816142bc598f6a58e17810083d07270f17802c79b0d33dade12e1a7ed"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "9614243de21fe8e95281cb2bc905030ebf1ce9b62f83444d6f79796fadde5daf",
+   "source_sha256": "55ee2a9af25410709c73762b726e1a41e5450b277090a5256571601dd5fd719b"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "866ac23f6232dadf982ef3b31b5f062d1a80186b16dae8dbefce6b569efaecb6",
+   "source_sha256": "b2fcef709086e19cb082ae12586aebd1a6fa9a92db90015c1c5a641f4588dfc7"
+  }
+ },
+ "input_fingerprint": "6b3a485326537f8b",
+ "kind": "online_calibration",
+ "output_sha256": "07d479974267b63e1cae60ed53c83746fa164c66a0b6dace1b69c6ce00569c3a",
+ "overlap": {
+  "left-right": 0.489,
+  "left_eye-left": 0.684,
+  "left_eye-right": 0.685,
+  "left_eye-right_eye": 1.0,
+  "left_front-left": 0.466,
+  "left_front-left_eye": 0.717,
+  "left_front-right": 0.447,
+  "left_front-right_eye": 0.72,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.672,
+  "right_eye-right": 0.676,
+  "right_front-left": 0.469,
+  "right_front-left_eye": 0.746,
+  "right_front-right": 0.472,
+  "right_front-right_eye": 0.74
+ },
+ "picture_change": {
+  "left": 45.049,
+  "left_eye": 46.871,
+  "left_front": 45.501,
+  "right": 45.712,
+  "right_eye": 46.285,
+  "right_front": 47.075
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   7840897816111,
+   7841897816111,
+   7842897805000,
+   7843897805000,
+   7844897816111,
+   7845897816111,
+   7846897849444,
+   7847897805000,
+   7848897816111,
+   7849897816111,
+   7850897871666,
+   7851897849444,
+   7852897893888,
+   7853897849444,
+   7854897838333,
+   7855897893888,
+   7856897893888,
+   7857897893888,
+   7858897849444,
+   7859897860555,
+   7860897816111,
+   7861897816111,
+   7862897816111,
+   7863897893888,
+   7864897860555,
+   7865897893888,
+   7866897816111,
+   7867897816111,
+   7868897827222,
+   7869898005000,
+   7870897816111
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM27/session_026/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ada3e857158407607547943c6b189d461667467192513091008ff884dfe2d9dd
+size 741695

actions/locomanipulation/LM27/session_026/meta.json

@@ -390,8 +390,8 @@
   "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": {
@@ -537,12 +537,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 2.27,
+    "offset_rotvec": [
+     -0.0332,
+     0.0061,
+     -0.0207
+    ],
+    "dev_deg": {
+     "median": 4.45,
+     "p90": 12.56
+    },
+    "samples": 3832,
+    "accepted": 3798,
+    "wrist_pos_err_mm_median": 47.6,
+    "per_camera": {
+     "head": {
+      "samples": 3832,
+      "accepted": 3798,
+      "gate_deg": 30.0,
+      "offset_deg": 2.27,
+      "tier": "primary",
+      "dev_deg_median": 4.45,
+      "wrist_pos_err_mm_median": 47.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15240,
+     "interpolated": 228,
+     "mean_hand": 8,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.999,
+    "observed_fraction_of_valid": 0.9995,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 3.8,
+     "smplx": 0.81
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.6,
+      "p90": 7.3
+     },
+     "registered": {
+      "median": 6.7,
+      "p90": 7.6
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 16.78,
+    "offset_rotvec": [
+     -0.0588,
+     -0.2831,
+     -0.0465
+    ],
+    "dev_deg": {
+     "median": 5.45,
+     "p90": 9.66
+    },
+    "samples": 3834,
+    "accepted": 3827,
+    "wrist_pos_err_mm_median": 37.0,
+    "per_camera": {
+     "head": {
+      "samples": 3834,
+      "accepted": 3827,
+      "gate_deg": 30.0,
+      "offset_deg": 16.78,
+      "tier": "primary",
+      "dev_deg_median": 5.45,
+      "wrist_pos_err_mm_median": 37.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15322,
+     "interpolated": 142,
+     "mean_hand": 12,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9987,
+    "observed_fraction_of_valid": 0.9992,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 17.12,
+     "smplx": 0.66
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 17.8,
+      "p90": 23.8
+     },
+     "registered": {
+      "median": 17.4,
+      "p90": 23.0
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T20:17:47.972890+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/LM27/session_026",
   "family": "locomanipulation",
   "primitive": "LM27",
   "source_session": "20261020/LM27/20261020_111507_session52"
  },
+ "task": {
+  "primitive": "LM27",
+  "instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take."
+ },
  "objects": [
   {
    "name": "BigBox",

actions/locomanipulation/LM27/session_026/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6391a024e9702a431659a4086b458aa51da7e0ed20dd2290d2761318bc7c4984
+size 5169677