Release update 2026-11-05: new sessions, instructions, annotations (part 281)

actions/locomanipulation/LM31/session_019/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": "LM31",
+ "instruction": "Carry the box over the low sill without stopping, then bring it back over. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 115.766689,
+   "video": "left_eye",
+   "video_t_start": 0.03955731841757723
+  }
+ ],
+ "episodes": [
+  {
+   "id": "3ed6a3bf-7357-4356-9081-b7a698a13864",
+   "segment": "segment1",
+   "action": "LM31",
+   "quality": "valid",
+   "start_s": 0.878,
+   "end_s": 112.644,
+   "t_start": 0.9176,
+   "t_end": 112.6836,
+   "instruction": "Carry the box over the low sill without stopping, then bring it back over. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}

actions/locomanipulation/LM31/session_019/cameras/gsi_online_calibration.json

@@ -0,0 +1,204 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 12,
+  "median_px": 0.358
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 2.4221,
+   "gate_fail": [],
+   "held_out_px_after": 0.432,
+   "held_out_px_before": 4.276,
+   "inliers": 767,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.977,
+    -1.3103,
+    0.4909
+   ],
+   "split_deg": 0.0283,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 0.6043,
+   "gate_fail": [],
+   "held_out_px_after": 0.361,
+   "held_out_px_before": 3.593,
+   "inliers": 1216,
+   "position_fitted": true,
+   "position_mm": [
+    -3.26,
+    -18.73,
+    2.56
+   ],
+   "position_sigma_mm": 0.165,
+   "position_split_mm": 0.496,
+   "rotvec_deg": [
+    -0.0744,
+    -0.1407,
+    0.583
+   ],
+   "split_deg": 0.0406,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "right_front",
+    "right_eye"
+   ],
+   "delta_deg": 3.4358,
+   "gate_fail": [],
+   "held_out_px_after": 0.535,
+   "held_out_px_before": 10.177,
+   "inliers": 401,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.8021,
+    -0.7908,
+    2.8163
+   ],
+   "split_deg": 0.1933,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.8372,
+   "gate_fail": [],
+   "held_out_px_after": 0.37,
+   "held_out_px_before": 5.721,
+   "inliers": 1780,
+   "position_fitted": true,
+   "position_mm": [
+    -3.19,
+    -17.18,
+    3.65
+   ],
+   "position_sigma_mm": 0.106,
+   "position_split_mm": 0.416,
+   "rotvec_deg": [
+    0.2667,
+    -0.8388,
+    1.6126
+   ],
+   "split_deg": 0.0444,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.8905,
+   "gate_fail": [],
+   "held_out_px_after": 0.357,
+   "held_out_px_before": 5.128,
+   "inliers": 1849,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.7091,
+    -0.3892,
+    -0.3725
+   ],
+   "split_deg": 0.0016,
+   "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": "e6f1cb9d37453aea8153b49681aec9b42fdbf0b6dec6c992a9fd1a47aadeaa49",
+   "source_sha256": "2bf43346f9825da1c051096d46ceb924252959c0c3fed4ac9c166c6096121ae0"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "4f2b28d07c49ea70e810fc42b074ac4479a9a3bb06a461c8a0b780c699a48f4a",
+   "source_sha256": "b80f390816142bc598f6a58e17810083d07270f17802c79b0d33dade12e1a7ed"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "3a6e79f873ebf3d9f5ab0a8d2108fb1033f5195d51e29b816c622436fc211f8f",
+   "source_sha256": "55ee2a9af25410709c73762b726e1a41e5450b277090a5256571601dd5fd719b"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "79e678c2425bc93271d482a0c9e861421736d91f7550d15ffdcd61a550f20653",
+   "source_sha256": "b2fcef709086e19cb082ae12586aebd1a6fa9a92db90015c1c5a641f4588dfc7"
+  }
+ },
+ "input_fingerprint": "f99fc6f366a0cbbb",
+ "kind": "online_calibration",
+ "output_sha256": "7b1b79bbb171f97016fc303ac877390a5092c9a406beba4a526650e0ee97d6a1",
+ "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": 32.83,
+  "left_eye": 37.15,
+  "left_front": 39.22,
+  "right": 37.481,
+  "right_eye": 40.569,
+  "right_front": 38.57
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   33591019120000,
+   33592019120000,
+   33593019120000,
+   33594019120000,
+   33595019120000,
+   33596019120000,
+   33597019120000,
+   33598019120000
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM31/session_019/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa06e91fd1b7900939d3bbfed880cfe7e9f9e6f0f6cc693f2497603113b3d909
+size 666031

actions/locomanipulation/LM31/session_019/meta.json

@@ -535,6 +535,10 @@
   "primitive": "LM31",
   "source_session": "20261017/LM31/20261017_095947_session138"
  },
+ "task": {
+  "primitive": "LM31",
+  "instruction": "Carry the box over the low sill without stopping, then bring it back over. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+ },
  "objects": [
   {
    "name": "BigBox",

actions/locomanipulation/LM31/session_019/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:482a87fe40d904bc34187863c829d514258bd28805f91ee2be1204eced297093
+size 4586958

actions/locomanipulation/LM31/session_020/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": "LM31",
+ "instruction": "Carry the box over the low sill without stopping, then bring it back over. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 126.966689,
+   "video": "left_eye",
+   "video_t_start": 0.03918816959531238
+  }
+ ],
+ "episodes": [
+  {
+   "id": "2320f09b-2411-4b75-a656-0a9e63f22796",
+   "segment": "segment1",
+   "action": "LM31",
+   "quality": "valid",
+   "start_s": 1.205,
+   "end_s": 123.139,
+   "t_start": 1.2442,
+   "t_end": 123.1782,
+   "instruction": "Carry the box over the low sill without stopping, then bring it back over. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}

actions/locomanipulation/LM31/session_020/cameras/gsi_online_calibration.json

@@ -0,0 +1,255 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.446
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 2.3931,
+   "gate_fail": [],
+   "held_out_px_after": 0.518,
+   "held_out_px_before": 9.189,
+   "inliers": 1622,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.8926,
+    -1.3418,
+    0.5869
+   ],
+   "split_deg": 0.0993,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.6754,
+   "gate_fail": [],
+   "held_out_px_after": 0.569,
+   "held_out_px_before": 3.503,
+   "inliers": 1293,
+   "position_fitted": true,
+   "position_mm": [
+    -2.59,
+    -18.59,
+    2.52
+   ],
+   "position_sigma_mm": 0.155,
+   "position_split_mm": 0.888,
+   "rotvec_deg": [
+    -0.038,
+    -0.2072,
+    0.6417
+   ],
+   "split_deg": 0.0581,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 3.6112,
+   "gate_fail": [],
+   "held_out_px_after": 0.682,
+   "held_out_px_before": 10.578,
+   "inliers": 1135,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.0736,
+    -1.0083,
+    2.7793
+   ],
+   "split_deg": 0.2319,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9113,
+   "gate_fail": [],
+   "held_out_px_after": 0.433,
+   "held_out_px_before": 6.237,
+   "inliers": 2209,
+   "position_fitted": true,
+   "position_mm": [
+    -2.5,
+    -16.42,
+    3.03
+   ],
+   "position_sigma_mm": 0.11,
+   "position_split_mm": 0.228,
+   "rotvec_deg": [
+    0.3635,
+    -0.9167,
+    1.6373
+   ],
+   "split_deg": 0.0526,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.9168,
+   "gate_fail": [],
+   "held_out_px_after": 0.407,
+   "held_out_px_before": 5.496,
+   "inliers": 2970,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.726,
+    -0.4127,
+    -0.3782
+   ],
+   "split_deg": 0.094,
+   "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": "63ac1f89b08d7d7f5df64c4f0da5d5fb10deea06c299472a3a867fa1a39c6a9e",
+   "source_sha256": "2bf43346f9825da1c051096d46ceb924252959c0c3fed4ac9c166c6096121ae0"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "4102031fe148ce4dd8c14ca8e900c45ab47aaf9bc90181ea68d837667593be1d",
+   "source_sha256": "b80f390816142bc598f6a58e17810083d07270f17802c79b0d33dade12e1a7ed"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "f4128d619231d64179ea5a256afdda8880cef019d2f3b7bab972c7a07e4bd590",
+   "source_sha256": "55ee2a9af25410709c73762b726e1a41e5450b277090a5256571601dd5fd719b"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "8222f967b203e17b3f3bf6b717fca7230144c7ad6ca4c90d5d6dba488a9ea28d",
+   "source_sha256": "b2fcef709086e19cb082ae12586aebd1a6fa9a92db90015c1c5a641f4588dfc7"
+  }
+ },
+ "input_fingerprint": "c1da3896ed7468e9",
+ "kind": "online_calibration",
+ "output_sha256": "3cea95243decd3880b6d3c6217ff940b98555fcb8c0d20fa63bd50544284dbb8",
+ "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": 38.403,
+  "left_eye": 43.697,
+  "left_front": 51.772,
+  "right": 39.67,
+  "right_eye": 48.378,
+  "right_front": 52.461
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   33722331513000,
+   33723331501888,
+   33724331501888,
+   33729331501888,
+   33730331501888,
+   33732331513000,
+   33733331501888,
+   33737331513000,
+   33738331524111,
+   33742331524111,
+   33743331579666,
+   33744331513000,
+   33747331646333,
+   33748331546333,
+   33754331513000,
+   33755331579666,
+   33759331535222,
+   33760331524111,
+   33761331535222,
+   33766331557444,
+   33767331513000,
+   33771331590777,
+   33772331524111,
+   33774331535222,
+   33775331513000,
+   33779331513000,
+   33780331657444,
+   33781331535222,
+   33786331524111,
+   33787331590777,
+   33790331513000,
+   33791331513000,
+   33794331535222,
+   33795331535222,
+   33800331579666,
+   33801331546333,
+   33804331590777,
+   33805331513000,
+   33806331513000,
+   33813331546333,
+   33814331513000,
+   33815331535222,
+   33816331513000,
+   33819331535222,
+   33820331546333,
+   33823331590777,
+   33824331535222,
+   33829331513000,
+   33830331535222,
+   33831331546333,
+   33834331513000,
+   33835331579666,
+   33838331646333,
+   33839331513000
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM31/session_020/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2cf174bb5064b7cf3ed73ff5f75fb968ad1d1f7994cac4102cb1fa140b16889
+size 730302

actions/locomanipulation/LM31/session_020/meta.json

@@ -571,6 +571,10 @@
   "primitive": "LM31",
   "source_session": "20261017/LM31/20261017_100155_session139"
  },
+ "task": {
+  "primitive": "LM31",
+  "instruction": "Carry the box over the low sill without stopping, then bring it back over. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+ },
  "objects": [
   {
    "name": "BigBox",