Release update 2026-11-05: new sessions, instructions, annotations (part 39)

actions/locomanipulation/LM15/session_046/meta.json

@@ -366,8 +366,8 @@
   "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": {
@@ -511,10 +511,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 20.37,
+    "offset_rotvec": [
+     0.2365,
+     -0.2292,
+     -0.1337
+    ],
+    "dev_deg": {
+     "median": 9.45,
+     "p90": 24.24
+    },
+    "samples": 3075,
+    "accepted": 2860,
+    "wrist_pos_err_mm_median": 31.7,
+    "per_camera": {
+     "head": {
+      "samples": 3075,
+      "accepted": 2860,
+      "gate_deg": 30.0,
+      "offset_deg": 20.37,
+      "tier": "primary",
+      "dev_deg_median": 9.45,
+      "wrist_pos_err_mm_median": 31.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11566,
+     "interpolated": 1782,
+     "mean_hand": 905,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9365,
+    "observed_fraction_of_valid": 0.9365,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 21.83,
+     "smplx": 0.96
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.7,
+      "p90": 10.1
+     },
+     "registered": {
+      "median": 4.2,
+      "p90": 6.0
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 29.81,
+    "offset_rotvec": [
+     0.4252,
+     0.239,
+     0.1808
+    ],
+    "dev_deg": {
+     "median": 49.19,
+     "p90": 99.89
+    },
+    "samples": 2581,
+    "accepted": 1095,
+    "wrist_pos_err_mm_median": 103.6,
+    "per_camera": {
+     "head": {
+      "samples": 2581,
+      "accepted": 1095,
+      "gate_deg": 30.0,
+      "offset_deg": 29.81,
+      "tier": "primary",
+      "dev_deg_median": 49.19,
+      "wrist_pos_err_mm_median": 103.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 4454,
+     "interpolated": 1348,
+     "mean_hand": 8451,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.4071,
+    "observed_fraction_of_valid": 0.4071,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 66.01,
+     "smplx": 0.81
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 12.4,
+      "p90": 18.1
+     },
+     "registered": {
+      "median": 11.9,
+      "p90": 17.5
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:34:44.655964+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/LM15/session_046",
   "family": "locomanipulation",
   "primitive": "LM15",
   "source_session": "20261019/LM15/20261019_080838_session40"
+ },
+ "task": {
+  "primitive": "LM15",
+  "instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room."
  }
 }

actions/locomanipulation/LM15/session_046/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:736cecebcd7e79d30d6ad369b91b2dbec9177c721af77616a6701f92443337d8
+size 3864840

actions/locomanipulation/LM15/session_046/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:600cbf954473a32f5184229fc85ad238efff0a4cd8839455e6e40f143c2d1601
-size 5499779
+oid sha256:5355fef50bf793f82ac573f7b6e94b51784e61fb3cdeb2002e033ec25032b7d6
+size 8815145

actions/locomanipulation/LM15/session_047/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": "LM15",
+ "instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 124.766611,
+   "video": "left_eye",
+   "video_t_start": 0.04000548375547976
+  }
+ ],
+ "episodes": [
+  {
+   "id": "b3e2505e-dad5-4cc9-a4b9-e532e9824413",
+   "segment": "segment1",
+   "action": "LM15",
+   "quality": "valid",
+   "start_s": 1.221,
+   "end_s": 120.153,
+   "t_start": 1.261,
+   "t_end": 120.193,
+   "instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room."
+  }
+ ]
+}

actions/locomanipulation/LM15/session_047/cameras/gsi_online_calibration.json

@@ -0,0 +1,260 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.417
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 2.4508,
+   "gate_fail": [],
+   "held_out_px_after": 0.577,
+   "held_out_px_before": 10.568,
+   "inliers": 1673,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.058,
+    -1.2752,
+    0.3803
+   ],
+   "split_deg": 0.0612,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.7648,
+   "gate_fail": [],
+   "held_out_px_after": 0.482,
+   "held_out_px_before": 3.49,
+   "inliers": 2957,
+   "position_fitted": true,
+   "position_mm": [
+    1.72,
+    -10.7,
+    6.37
+   ],
+   "position_sigma_mm": 0.643,
+   "position_split_mm": 1.758,
+   "rotvec_deg": [
+    0.0378,
+    -0.1125,
+    0.7555
+   ],
+   "split_deg": 0.0163,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 3.7588,
+   "gate_fail": [],
+   "held_out_px_after": 0.527,
+   "held_out_px_before": 8.775,
+   "inliers": 2451,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.171,
+    -0.9731,
+    2.9101
+   ],
+   "split_deg": 0.023,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9329,
+   "gate_fail": [],
+   "held_out_px_after": 0.367,
+   "held_out_px_before": 5.503,
+   "inliers": 4433,
+   "position_fitted": true,
+   "position_mm": [
+    2.94,
+    -9.96,
+    3.82
+   ],
+   "position_sigma_mm": 0.476,
+   "position_split_mm": 1.676,
+   "rotvec_deg": [
+    0.3753,
+    -0.863,
+    1.6883
+   ],
+   "split_deg": 0.0514,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.8927,
+   "gate_fail": [],
+   "held_out_px_after": 0.416,
+   "held_out_px_before": 5.903,
+   "inliers": 5651,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.7073,
+    -0.3064,
+    -0.4503
+   ],
+   "split_deg": 0.0617,
+   "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": "3d057547dedce67efd10dc372b3bca0620a9a9fcd447e47ba0f7ef24868f9536",
+   "source_sha256": "2bf43346f9825da1c051096d46ceb924252959c0c3fed4ac9c166c6096121ae0"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "6f5761c756d714afa226257db35e3f756735e13c7953aff1a50f850610188072",
+   "source_sha256": "b80f390816142bc598f6a58e17810083d07270f17802c79b0d33dade12e1a7ed"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "7f3c2ee1ab1e8784483920738df237acac94259ca3df58c91a30f42398947a6f",
+   "source_sha256": "55ee2a9af25410709c73762b726e1a41e5450b277090a5256571601dd5fd719b"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "b622640727babf0879478739bafc3a36dc1f14a7759d84835c174bdf81d1513c",
+   "source_sha256": "b2fcef709086e19cb082ae12586aebd1a6fa9a92db90015c1c5a641f4588dfc7"
+  }
+ },
+ "input_fingerprint": "4637d5cb33bf5c40",
+ "kind": "online_calibration",
+ "output_sha256": "2ada0e33e1882899bb7799a43e8dead37a93c79690586212bc43175701942ce6",
+ "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": 32.353,
+  "left_eye": 30.924,
+  "left_front": 32.685,
+  "right": 30.205,
+  "right_eye": 30.975,
+  "right_front": 33.39
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   3928750721555,
+   3929750710444,
+   3932750743777,
+   3933750710444,
+   3937750721555,
+   3938750721555,
+   3941750854888,
+   3942750788222,
+   3945750721555,
+   3946750732666,
+   3949750710444,
+   3950750732666,
+   3951750843777,
+   3952750710444,
+   3955750710444,
+   3956750732666,
+   3961750710444,
+   3962750732666,
+   3965750732666,
+   3966750721555,
+   3969750766000,
+   3970750721555,
+   3971750743777,
+   3972750710444,
+   3975750788222,
+   3976750832666,
+   3981750788222,
+   3982750710444,
+   3985750721555,
+   3986750710444,
+   3990750710444,
+   3991750710444,
+   3992750743777,
+   3996750721555,
+   3997750788222,
+   4001750766000,
+   4002750721555,
+   4003750743777,
+   4004750710444,
+   4009750721555,
+   4010750754888,
+   4011750754888,
+   4012750710444,
+   4017750721555,
+   4018750788222,
+   4020750710444,
+   4021750788222,
+   4023750721555,
+   4024750788222,
+   4028750743777,
+   4029750721555,
+   4031750721555,
+   4032750710444,
+   4036750710444,
+   4037750710444,
+   4039750854888,
+   4040750777111,
+   4045750721555,
+   4046750754888
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM15/session_047/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6996afa3e2d3f62628246de04ade472b485e366a758ae53d1c8a3e32d246e11e
+size 715586

actions/locomanipulation/LM15/session_047/meta.json

@@ -393,8 +393,8 @@
   "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": {
@@ -544,12 +544,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 14.89,
+    "offset_rotvec": [
+     0.1065,
+     -0.1256,
+     0.2011
+    ],
+    "dev_deg": {
+     "median": 16.48,
+     "p90": 27.19
+    },
+    "samples": 3235,
+    "accepted": 3052,
+    "wrist_pos_err_mm_median": 52.4,
+    "per_camera": {
+     "head": {
+      "samples": 3235,
+      "accepted": 3052,
+      "gate_deg": 30.0,
+      "offset_deg": 14.89,
+      "tier": "primary",
+      "dev_deg_median": 16.48,
+      "wrist_pos_err_mm_median": 52.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12477,
+     "interpolated": 2470,
+     "mean_hand": 25,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9978,
+    "observed_fraction_of_valid": 0.9983,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 15.71,
+     "smplx": 0.33
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 15.1,
+      "p90": 15.5
+     },
+     "registered": {
+      "median": 13.8,
+      "p90": 15.2
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 21.76,
+    "offset_rotvec": [
+     0.1041,
+     0.3225,
+     -0.1715
+    ],
+    "dev_deg": {
+     "median": 20.64,
+     "p90": 34.1
+    },
+    "samples": 2510,
+    "accepted": 2088,
+    "wrist_pos_err_mm_median": 145.1,
+    "per_camera": {
+     "head": {
+      "samples": 2510,
+      "accepted": 2088,
+      "gate_deg": 30.0,
+      "offset_deg": 21.76,
+      "tier": "primary",
+      "dev_deg_median": 20.64,
+      "wrist_pos_err_mm_median": 145.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 8753,
+     "interpolated": 5806,
+     "mean_hand": 413,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9719,
+    "observed_fraction_of_valid": 0.9724,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 22.91,
+     "smplx": 0.41
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 13.2,
+      "p90": 19.0
+     },
+     "registered": {
+      "median": 13.1,
+      "p90": 18.2
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T20:20:15.166246+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/LM15/session_047",
   "family": "locomanipulation",
   "primitive": "LM15",
   "source_session": "20261020/LM15/20261020_100952_session29"
  },
+ "task": {
+  "primitive": "LM15",
+  "instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room."
+ },
  "objects": [
   {
    "name": "LittleBox2",

actions/locomanipulation/LM15/session_047/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70ce5a8e6f5a80c044de8c8b75de9a9ff1084965d074400641b69f6330082b21
+size 3956968

actions/locomanipulation/LM15/session_047/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:9ea141ca1962aa236be6320a91ac8a483fdb073fc99e950bce6289d7ddf2d2c9
-size 5765083
+oid sha256:e24d4762bb1d148defbe7b3023ac8056b91355b8d2fcca7fa44c20b0f706acb3
+size 10752769

actions/locomanipulation/LM15/session_048/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": "LM15",
+ "instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 120.733367,
+   "video": "left_eye",
+   "video_t_start": 0.03946349624385792
+  }
+ ],
+ "episodes": [
+  {
+   "id": "8cebb5c3-22a3-4c6f-8488-326458835409",
+   "segment": "segment1",
+   "action": "LM15",
+   "quality": "valid",
+   "start_s": 0.824,
+   "end_s": 116.153,
+   "t_start": 0.8635,
+   "t_end": 116.1925,
+   "instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room."
+  }
+ ]
+}