Release update 2026-11-05: new sessions, instructions, annotations (part 229)

actions/locomanipulation/LM27/session_008/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2be19638ab6ef1d12de4c5a1111f200f3686fb918ef73cd69a32a30ed60a04e
+size 829282

actions/locomanipulation/LM27/session_008/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": 0.8370511807426693
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 12.19,
+    "offset_rotvec": [
+     0.205,
+     -0.0432,
+     -0.0367
+    ],
+    "dev_deg": {
+     "median": 2.94,
+     "p90": 5.16
+    },
+    "samples": 4194,
+    "accepted": 4184,
+    "wrist_pos_err_mm_median": 44.9,
+    "per_camera": {
+     "head": {
+      "samples": 4194,
+      "accepted": 4184,
+      "gate_deg": 30.0,
+      "offset_deg": 12.19,
+      "tier": "primary",
+      "dev_deg_median": 2.94,
+      "wrist_pos_err_mm_median": 44.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 16738,
+     "interpolated": 70,
+     "mean_hand": 472,
+     "no_body_fit": 4
+    },
+    "observed_fraction": 0.9725,
+    "observed_fraction_of_valid": 0.9727,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.42,
+     "smplx": 0.46
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.4,
+      "p90": 8.6
+     },
+     "registered": {
+      "median": 7.3,
+      "p90": 9.3
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 23.66,
+    "offset_rotvec": [
+     0.2269,
+     -0.2755,
+     0.2076
+    ],
+    "dev_deg": {
+     "median": 5.29,
+     "p90": 9.95
+    },
+    "samples": 4268,
+    "accepted": 4161,
+    "wrist_pos_err_mm_median": 66.4,
+    "per_camera": {
+     "head": {
+      "samples": 4268,
+      "accepted": 4161,
+      "gate_deg": 30.0,
+      "offset_deg": 23.66,
+      "tier": "primary",
+      "dev_deg_median": 5.29,
+      "wrist_pos_err_mm_median": 66.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 16646,
+     "interpolated": 82,
+     "mean_hand": 552,
+     "no_body_fit": 4
+    },
+    "observed_fraction": 0.9678,
+    "observed_fraction_of_valid": 0.9681,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 23.55,
+     "smplx": 0.8
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 16.1,
+      "p90": 28.2
+     },
+     "registered": {
+      "median": 15.7,
+      "p90": 27.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:52:16.826672+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_008",
   "family": "locomanipulation",
   "primitive": "LM27",
   "source_session": "20260920/LM27/20260920_030728_session3"
+ },
+ "task": {
+  "primitive": "LM27",
+  "instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take."
  }
 }

actions/locomanipulation/LM27/session_008/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1a8ed6f6bd4f9e26e4a69ead5ae99e93e5ef7bbc0e0d50c12d5f3ad16e38e7e
+size 5663125

actions/locomanipulation/LM27/session_008/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:520fe8c843142711d0a81d997feaf24c284d9c2985f43c516453f16521fc3d1d
-size 6648204
+oid sha256:e6974853985c6dab7c08e1d8139e80af30cbdc0149dc9be3b8e9e5a476893e35
+size 12279016

actions/locomanipulation/LM27/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": "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": 103.966611,
+   "video": "left_eye",
+   "video_t_start": 0.03927567905775664
+  }
+ ],
+ "episodes": [
+  {
+   "id": "a3b92d0a-2cdf-40d3-ae82-637831268b23",
+   "segment": "segment1",
+   "action": "LM27",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 97.92,
+   "t_start": 0.0393,
+   "t_end": 97.9593,
+   "instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take."
+  }
+ ]
+}

actions/locomanipulation/LM27/session_009/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75c73e3ad8329263803cafb293a6dee7bd53d08f5ea89f5e56b266cd4e2f51fa
+size 599546

actions/locomanipulation/LM27/session_009/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": {
@@ -508,10 +508,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.7971615299911423
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 13.71,
+    "offset_rotvec": [
+     0.2347,
+     -0.0424,
+     -0.0198
+    ],
+    "dev_deg": {
+     "median": 2.61,
+     "p90": 6.03
+    },
+    "samples": 3082,
+    "accepted": 3047,
+    "wrist_pos_err_mm_median": 38.1,
+    "per_camera": {
+     "head": {
+      "samples": 3082,
+      "accepted": 3047,
+      "gate_deg": 30.0,
+      "offset_deg": 13.71,
+      "tier": "primary",
+      "dev_deg_median": 2.61,
+      "wrist_pos_err_mm_median": 38.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12202,
+     "interpolated": 150,
+     "mean_hand": 132,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9894,
+    "observed_fraction_of_valid": 0.9894,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.85,
+     "smplx": 0.41
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.5,
+      "p90": 7.2
+     },
+     "registered": {
+      "median": 6.6,
+      "p90": 7.7
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 19.8,
+    "offset_rotvec": [
+     0.0154,
+     -0.2722,
+     0.2124
+    ],
+    "dev_deg": {
+     "median": 6.16,
+     "p90": 11.58
+    },
+    "samples": 3067,
+    "accepted": 3032,
+    "wrist_pos_err_mm_median": 57.1,
+    "per_camera": {
+     "head": {
+      "samples": 3067,
+      "accepted": 3032,
+      "gate_deg": 30.0,
+      "offset_deg": 19.8,
+      "tier": "primary",
+      "dev_deg_median": 6.16,
+      "wrist_pos_err_mm_median": 57.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12128,
+     "interpolated": 32,
+     "mean_hand": 324,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.974,
+    "observed_fraction_of_valid": 0.974,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 18.17,
+     "smplx": 0.62
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 15.6,
+      "p90": 29.0
+     },
+     "registered": {
+      "median": 15.0,
+      "p90": 28.0
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:52:15.418049+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_009",
   "family": "locomanipulation",
   "primitive": "LM27",
   "source_session": "20260920/LM27/20260920_031008_session4"
+ },
+ "task": {
+  "primitive": "LM27",
+  "instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take."
  }
 }

actions/locomanipulation/LM27/session_009/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aca26a21c2ace2ef695319b73fb18362c8e518e7bf68b7484be1de5140ad49ac
+size 4110009

actions/locomanipulation/LM27/session_009/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:fb0005321055a5ce2b2fe7b201f3d85b164264a93e7ea7901446e4adc7483528
-size 4814425
+oid sha256:563d941f60807c846d2119af86fc582414f7e11bc013fe1c355ba20d55fa5c26
+size 8943155

actions/locomanipulation/LM27/session_010/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": 128.966711,
+   "video": "left_eye",
+   "video_t_start": 0.03902187845372218
+  }
+ ],
+ "episodes": [
+  {
+   "id": "f4bab2ac-1276-454b-937e-fce968969f45",
+   "segment": "segment1",
+   "action": "LM27",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 121.792,
+   "t_start": 0.039,
+   "t_end": 121.831,
+   "instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take."
+  }
+ ]
+}

actions/locomanipulation/LM27/session_010/cameras/gsi_online_calibration.json

@@ -0,0 +1,254 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.365
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.1016,
+   "gate_fail": [],
+   "held_out_px_after": 0.535,
+   "held_out_px_before": 4.723,
+   "inliers": 1911,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.1513,
+    -0.538,
+    -0.9493
+   ],
+   "split_deg": 0.0179,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.2685,
+   "gate_fail": [],
+   "held_out_px_after": 0.429,
+   "held_out_px_before": 6.706,
+   "inliers": 3235,
+   "position_fitted": true,
+   "position_mm": [
+    5.64,
+    -17.43,
+    5.31
+   ],
+   "position_sigma_mm": 0.236,
+   "position_split_mm": 1.637,
+   "rotvec_deg": [
+    -0.148,
+    0.8141,
+    -2.1123
+   ],
+   "split_deg": 0.0919,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.397,
+   "gate_fail": [],
+   "held_out_px_after": 0.612,
+   "held_out_px_before": 4.801,
+   "inliers": 1310,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.2547,
+    -0.4261,
+    -0.4426
+   ],
+   "split_deg": 0.0471,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.8275,
+   "gate_fail": [],
+   "held_out_px_after": 0.372,
+   "held_out_px_before": 3.952,
+   "inliers": 3195,
+   "position_fitted": true,
+   "position_mm": [
+    8.3,
+    -17.65,
+    7.03
+   ],
+   "position_sigma_mm": 0.234,
+   "position_split_mm": 1.391,
+   "rotvec_deg": [
+    0.0856,
+    -0.3643,
+    -0.738
+   ],
+   "split_deg": 0.0724,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9537,
+   "gate_fail": [],
+   "held_out_px_after": 0.319,
+   "held_out_px_before": 5.538,
+   "inliers": 4229,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.5536,
+    0.1678,
+    -1.8661
+   ],
+   "split_deg": 0.0218,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "18d83d7dd5c0d676a883355aa640374e8364f800ca4095a056a6dbc61959004b",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "3f5985f233492a096a9d7c33e448f3534952b92a7f58af63b12d3c6d7a7b6c41",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "7abe93f74bd97808226f239367bb05918fdf871334c59af82ed471f5062b62d9",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "71c36d982ac11dfcdd686417413f4d8fea405b9e7e7254ce847449979e89108d",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "d8acd0de98838304",
+ "kind": "online_calibration",
+ "output_sha256": "d92f98787a6fe77e4c647881e90c09d7b684b690fbd9187e85fa43c2c5e309c8",
+ "overlap": {
+  "left-right": 0.501,
+  "left_eye-left": 0.707,
+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 34.473,
+  "left_eye": 31.892,
+  "left_front": 42.496,
+  "right": 36.708,
+  "right_eye": 31.765,
+  "right_front": 42.535
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   2441278569000,
+   2442278757888,
+   2445278569000,
+   2446278580111,
+   2451278569000,
+   2452278624555,
+   2453278624555,
+   2456278580111,
+   2457278713444,
+   2463278657888,
+   2464278635666,
+   2465278635666,
+   2466278591222,
+   2469278624555,
+   2470278657888,
+   2473278613444,
+   2474278569000,
+   2476278591222,
+   2477278580111,
+   2481278624555,
+   2482278624555,
+   2488278580111,
+   2489278613444,
+   2491278613444,
+   2492278580111,
+   2493278624555,
+   2494278569000,
+   2500278591222,
+   2501278591222,
+   2502278646777,
+   2506278569000,
+   2507278613444,
+   2512278646777,
+   2513278624555,
+   2514278602333,
+   2521278580111,
+   2522278646777,
+   2525278580111,
+   2526278580111,
+   2527278624555,
+   2532278613444,
+   2533278635666,
+   2535278569000,
+   2536278569000,
+   2541278613444,
+   2542278569000,
+   2544278580111,
+   2545278569000,
+   2549278569000,
+   2550278580111,
+   2551278569000,
+   2556278591222,
+   2557278680111,
+   2558278569000,
+   2559278624555
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM27/session_010/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c13e72177499bdafe81a2288e33c020e715cb6425d01ec3e6150be9896fcadcc
+size 741891