Release update 2026-11-05: 5760 sessions, instructions, annotations (part 160)

actions/locomanipulation/LM01/session_014/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": "LM01",
+ "instruction": "Pick an object up off the floor at one end of the room, carry it across, and place it on the waist-height shelf at the other end. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 134.866656,
+   "video": "left_eye",
+   "video_t_start": 0.039648594222437133
+  }
+ ],
+ "episodes": [
+  {
+   "id": "97d9d88a-dddf-4450-94fd-d177d95a3e96",
+   "segment": "segment1",
+   "action": "LM01",
+   "quality": "valid",
+   "start_s": 0.775,
+   "end_s": 125.036,
+   "t_start": 0.8146,
+   "t_end": 125.0756,
+   "instruction": "Pick an object up off the floor at one end of the room, carry it across, and place it on the waist-height shelf at the other end. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}

actions/locomanipulation/LM01/session_014/cameras/gsi_online_calibration.json

@@ -0,0 +1,208 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.429
+ },
+ "cameras": {
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+    0.4265
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+   "usable": true
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+    "right_eye",
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+    3.78
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+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e3296774a321bb51",
+ "factory_root_name": "e3296774a321bb51",
+ "files": {
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+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "99d175e458cf03c7f00b2755c87767ca9111a9befbfdc2f953fe13615f77a6e7",
+   "source_sha256": "b80f390816142bc598f6a58e17810083d07270f17802c79b0d33dade12e1a7ed"
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+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "55ee2a9af25410709c73762b726e1a41e5450b277090a5256571601dd5fd719b"
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+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "9f43fcd79cda7a4f4d3fc661521ce9da69f54d093749bc75ca48d906e0182fd0",
+   "source_sha256": "b2fcef709086e19cb082ae12586aebd1a6fa9a92db90015c1c5a641f4588dfc7"
+  }
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+ "input_fingerprint": "101829e6f1baf49a",
+ "kind": "online_calibration",
+ "output_sha256": "277badf5b41dbaabdde00d7af54c44eaac7549b8bcfcf16b8d601b8d0bae5b84",
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+  "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,
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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": 43.549,
+  "left_front": 47.03,
+  "right": 48.115,
+  "right_eye": 43.577,
+  "right_front": 48.274
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+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
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+ },
+ "version": 1
+}

actions/locomanipulation/LM01/session_014/cameras/slam.npz

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actions/locomanipulation/LM01/session_014/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": {
@@ -513,12 +513,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+     "p90": 31.38
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+    "samples": 3592,
+    "accepted": 3215,
+    "wrist_pos_err_mm_median": 51.0,
+    "per_camera": {
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+      "gate_deg": 30.0,
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+      "tier": "primary",
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+    "hand_marker_to_mesh_mm": {
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+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  "generated_at_utc": "2026-11-03T17:39:05.009600+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/LM01/session_014",
   "family": "locomanipulation",
   "primitive": "LM01",
   "source_session": "20261024/LM01/20261024_055517_session60"
  },
+ "task": {
+  "primitive": "LM01",
+  "instruction": "Pick an object up off the floor at one end of the room, carry it across, and place it on the waist-height shelf at the other end. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+ },
  "objects": [
   {
    "name": "LittleBox3",

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