Release update 2026-11-05: 5760 sessions, instructions, annotations (part 253)

actions/locomanipulation/LM06/session_009/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": "LM06",
+ "instruction": "Take an object from the waist-height shelf, carry it across the room, and place it on the highest shelf you can comfortably reach. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 121.966744,
+   "video": "left_eye",
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+  }
+ ],
+ "episodes": [
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+   "id": "b61b44be-7984-4a35-b8cc-f933eb92a607",
+   "segment": "segment1",
+   "action": "LM06",
+   "quality": "valid",
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+   "end_s": 111.062,
+   "t_start": 0.3297,
+   "t_end": 111.1017,
+   "instruction": "Take an object from the waist-height shelf, carry it across the room, and place it on the highest shelf you can comfortably reach. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}

actions/locomanipulation/LM06/session_009/cameras/gsi_online_calibration.json

@@ -0,0 +1,222 @@
+{
+ "camera_fit": {
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+  "groups_used": 15,
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+ },
+ "cameras": {
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+ "device_id": "e3296774a321bb51",
+ "factory_root_name": "e3296774a321bb51",
+ "files": {
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+ "kind": "online_calibration",
+ "output_sha256": "a4b9ab16f946075db98231bc5e168d2e2b7a9ccea9fd0c08742326c8cd93f141",
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+  "right_front-left_eye": 0.746,
+  "right_front-right": 0.472,
+  "right_front-right_eye": 0.74
+ },
+ "picture_change": {
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+  "left_eye": 45.155,
+  "left_front": 48.889,
+  "right": 41.537,
+  "right_eye": 45.277,
+  "right_front": 46.548
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+ "runtime": {
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+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
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+ "version": 1
+}

actions/locomanipulation/LM06/session_009/cameras/slam.npz

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actions/locomanipulation/LM06/session_009/meta.json

@@ -372,8 +372,8 @@
   "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": {
@@ -522,12 +522,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+     "p90": 16.72
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+    "samples": 3520,
+    "accepted": 3442,
+    "wrist_pos_err_mm_median": 105.3,
+    "per_camera": {
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+  "generated_at_utc": "2026-11-03T17:38:08.256689+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/LM06/session_009",
   "family": "locomanipulation",
   "primitive": "LM06",
   "source_session": "20261024/LM06/20261024_112723_session106"
  },
+ "task": {
+  "primitive": "LM06",
+  "instruction": "Take an object from the waist-height shelf, carry it across the room, and place it on the highest shelf you can comfortably reach. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+ },
  "objects": [
   {
    "name": "HighRack",

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