Release update 2026-11-05: new sessions, instructions, annotations (part 311)

actions/locomanipulation/LM33/session_010/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:273165c6bb87c035c11f424cbabbf6283ac9a3f3a8d3812985c6af7af4cee7fe
-size 5700267
+oid sha256:27101bb56476cb9f8076a6f1feafa82bec5a24523c0a4e1a758ad3738dab4373
+size 10647281

actions/locomanipulation/LM33/session_011/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": "LM33",
+ "instruction": "Carry the open container and, while walking, reach in with one hand and take an item out, then put it back. Repeat as you walk. Do not stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 143.966844,
+   "video": "left_eye",
+   "video_t_start": 0.03907422466310129
+  }
+ ],
+ "episodes": [
+  {
+   "id": "ce8bc20a-ff6c-412b-9c3e-b4527d0a28cd",
+   "segment": "segment1",
+   "action": "LM33",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 140.216,
+   "t_start": 0.0391,
+   "t_end": 140.2551,
+   "instruction": "Carry the open container and, while walking, reach in with one hand and take an item out, then put it back. Repeat as you walk. Do not stop."
+  }
+ ]
+}

actions/locomanipulation/LM33/session_011/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8101c6fdae7f51947202cc7988b596546bce7b44eaeb9cda240384f2498249be
+size 822276

actions/locomanipulation/LM33/session_011/meta.json

@@ -339,8 +339,8 @@
   "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": {
@@ -525,10 +525,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.6849448807629436
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 29.64,
+    "offset_rotvec": [
+     -0.0929,
+     0.5068,
+     0.0457
+    ],
+    "dev_deg": {
+     "median": 3.45,
+     "p90": 6.86
+    },
+    "samples": 4288,
+    "accepted": 4288,
+    "wrist_pos_err_mm_median": 33.1,
+    "per_camera": {
+     "head": {
+      "samples": 4288,
+      "accepted": 4288,
+      "gate_deg": 30.0,
+      "offset_deg": 29.64,
+      "tier": "primary",
+      "dev_deg_median": 3.45,
+      "wrist_pos_err_mm_median": 33.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 17152,
+     "interpolated": 0,
+     "mean_hand": 132,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9924,
+    "observed_fraction_of_valid": 0.9924,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 29.73,
+     "smplx": 0.58
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.5,
+      "p90": 14.9
+     },
+     "registered": {
+      "median": 8.5,
+      "p90": 14.9
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 22.66,
+    "offset_rotvec": [
+     -0.0281,
+     -0.3464,
+     0.189
+    ],
+    "dev_deg": {
+     "median": 9.41,
+     "p90": 15.3
+    },
+    "samples": 4237,
+    "accepted": 4234,
+    "wrist_pos_err_mm_median": 80.2,
+    "per_camera": {
+     "head": {
+      "samples": 4237,
+      "accepted": 4234,
+      "gate_deg": 30.0,
+      "offset_deg": 22.66,
+      "tier": "primary",
+      "dev_deg_median": 9.41,
+      "wrist_pos_err_mm_median": 80.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 16940,
+     "interpolated": 212,
+     "mean_hand": 132,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9924,
+    "observed_fraction_of_valid": 0.9924,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 24.89,
+     "smplx": 1.56
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 12.0,
+      "p90": 16.8
+     },
+     "registered": {
+      "median": 11.5,
+      "p90": 15.8
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:39:26.967385+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/LM33/session_011",
   "family": "locomanipulation",
   "primitive": "LM33",
   "source_session": "20260923/LM33/20260923_030729_session226"
+ },
+ "task": {
+  "primitive": "LM33",
+  "instruction": "Carry the open container and, while walking, reach in with one hand and take an item out, then put it back. Repeat as you walk. Do not stop."
  }
 }

actions/locomanipulation/LM33/session_011/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f13f7cba0d08393400a43b16ccafbf36ffa7d82412a4325867e05ffafed1297
+size 5753662

actions/locomanipulation/LM33/session_011/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:97211ab576dd7c4cf71120779e56b389e354cea106ea7f941859824a7abd94f4
-size 6629731
+oid sha256:303dca3871366110c67cff813d882a4459ca8806e98d0e2ab58a2b26566de363
+size 12395194

actions/locomanipulation/LM33/session_012/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": "LM33",
+ "instruction": "Carry the open container and, while walking, reach in with one hand and take an item out, then put it back. Repeat as you walk. Do not stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 123.966611,
+   "video": "left_eye",
+   "video_t_start": 0.03843843565936611
+  }
+ ],
+ "episodes": [
+  {
+   "id": "d91f0173-1c65-419b-911c-a15fedfb53b6",
+   "segment": "segment1",
+   "action": "LM33",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 118.554,
+   "t_start": 0.0384,
+   "t_end": 118.5924,
+   "instruction": "Carry the open container and, while walking, reach in with one hand and take an item out, then put it back. Repeat as you walk. Do not stop."
+  }
+ ]
+}

actions/locomanipulation/LM33/session_012/cameras/gsi_online_calibration.json

@@ -0,0 +1,261 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.377
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.1396,
+   "gate_fail": [],
+   "held_out_px_after": 0.451,
+   "held_out_px_before": 4.673,
+   "inliers": 2768,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.1348,
+    -0.5772,
+    -0.9734
+   ],
+   "split_deg": 0.1339,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.3196,
+   "gate_fail": [],
+   "held_out_px_after": 0.434,
+   "held_out_px_before": 6.965,
+   "inliers": 4298,
+   "position_fitted": true,
+   "position_mm": [
+    4.29,
+    -18.02,
+    1.94
+   ],
+   "position_sigma_mm": 0.173,
+   "position_split_mm": 8.3,
+   "rotvec_deg": [
+    -0.1138,
+    0.7375,
+    -2.1963
+   ],
+   "split_deg": 0.098,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 1.596,
+   "gate_fail": [],
+   "held_out_px_after": 0.76,
+   "held_out_px_before": 5.263,
+   "inliers": 1345,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.4071,
+    -0.6206,
+    -0.4267
+   ],
+   "split_deg": 0.3762,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.9323,
+   "gate_fail": [],
+   "held_out_px_after": 0.378,
+   "held_out_px_before": 3.196,
+   "inliers": 5069,
+   "position_fitted": true,
+   "position_mm": [
+    6.16,
+    -20.47,
+    2.58
+   ],
+   "position_sigma_mm": 0.156,
+   "position_split_mm": 1.635,
+   "rotvec_deg": [
+    0.0618,
+    -0.3529,
+    -0.8607
+   ],
+   "split_deg": 0.1174,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.8643,
+   "gate_fail": [],
+   "held_out_px_after": 0.324,
+   "held_out_px_before": 5.657,
+   "inliers": 4790,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2582,
+    -0.1474,
+    -1.8404
+   ],
+   "split_deg": 0.0325,
+   "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": "ee6d844dd4f56f84ed5fb22a34a724e3bc378f23d707b9263cd544d6915f2a2d",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "91739cf23029e9d7404057d82f62ccb74e854f1e18c8c6b383422bd534118921",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "121aa39f4057113043d3b336586395e49751fc4113d5b8bc7860a516a1c3a771",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "9ba718495777c05efa9c73eb0d8fd6d5b532d776517688b9af6848f9ae3e516c",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "2b81edea09010e9e",
+ "kind": "online_calibration",
+ "output_sha256": "f9f3396f7729605776a3bd3f38d3b8e087ac57f480c4a9117e0fef8d5b491430",
+ "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": 37.016,
+  "left_eye": 36.002,
+  "left_front": 42.405,
+  "right": 40.648,
+  "right_eye": 37.867,
+  "right_front": 39.322
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   8017961491333,
+   8018961380222,
+   8024961446888,
+   8025961413555,
+   8027961435777,
+   8028961435777,
+   8032961380222,
+   8033961380222,
+   8036961391333,
+   8037961391333,
+   8038961424666,
+   8039961380222,
+   8041961391333,
+   8042961369111,
+   8046961446888,
+   8047961391333,
+   8050961424666,
+   8051961391333,
+   8054961402444,
+   8055961391333,
+   8057961435777,
+   8058961424666,
+   8061961391333,
+   8062961424666,
+   8066961380222,
+   8067961413555,
+   8071961380222,
+   8072961513555,
+   8075961435777,
+   8076961491333,
+   8077961435777,
+   8078961435777,
+   8084961435777,
+   8085961424666,
+   8087961424666,
+   8088961435777,
+   8091961424666,
+   8092961424666,
+   8095961380222,
+   8096961391333,
+   8097961424666,
+   8098961369111,
+   8103961513555,
+   8104961424666,
+   8106961402444,
+   8107961380222,
+   8111961424666,
+   8112961369111,
+   8114961391333,
+   8115961369111,
+   8118961380222,
+   8119961458000,
+   8121961402444,
+   8122961380222,
+   8128961402444,
+   8129961380222,
+   8131961458000,
+   8132961380222,
+   8133961424666,
+   8134961391333
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM33/session_012/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22073c9ec71ae77ed8398be5b35d22d5a98efbdcd1450772f45034b549f1b316
+size 714732

actions/locomanipulation/LM33/session_012/meta.json

@@ -340,8 +340,8 @@
   "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": {
@@ -521,10 +521,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.3927657459358114
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 23.07,
+    "offset_rotvec": [
+     -0.0517,
+     0.3787,
+     0.1268
+    ],
+    "dev_deg": {
+     "median": 5.92,
+     "p90": 10.54
+    },
+    "samples": 3689,
+    "accepted": 3657,
+    "wrist_pos_err_mm_median": 35.2,
+    "per_camera": {
+     "head": {
+      "samples": 3689,
+      "accepted": 3657,
+      "gate_deg": 30.0,
+      "offset_deg": 23.07,
+      "tier": "primary",
+      "dev_deg_median": 5.92,
+      "wrist_pos_err_mm_median": 35.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14642,
+     "interpolated": 114,
+     "mean_hand": 122,
+     "no_body_fit": 6
+    },
+    "observed_fraction": 0.9914,
+    "observed_fraction_of_valid": 0.9918,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 22.16,
+     "smplx": 0.74
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.1,
+      "p90": 10.7
+     },
+     "registered": {
+      "median": 8.0,
+      "p90": 10.7
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 27.09,
+    "offset_rotvec": [
+     -0.1033,
+     -0.4134,
+     0.2048
+    ],
+    "dev_deg": {
+     "median": 10.7,
+     "p90": 17.54
+    },
+    "samples": 3642,
+    "accepted": 3642,
+    "wrist_pos_err_mm_median": 31.0,
+    "per_camera": {
+     "head": {
+      "samples": 3642,
+      "accepted": 3642,
+      "gate_deg": 30.0,
+      "offset_deg": 27.09,
+      "tier": "primary",
+      "dev_deg_median": 10.7,
+      "wrist_pos_err_mm_median": 31.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14564,
+     "interpolated": 0,
+     "mean_hand": 314,
+     "no_body_fit": 6
+    },
+    "observed_fraction": 0.9785,
+    "observed_fraction_of_valid": 0.9789,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 25.56,
+     "smplx": 1.14
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.4,
+      "p90": 17.8
+     },
+     "registered": {
+      "median": 9.7,
+      "p90": 16.9
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:39:26.738505+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/LM33/session_012",
   "family": "locomanipulation",
   "primitive": "LM33",
   "source_session": "20260923/LM33/20260923_054844_session33"
+ },
+ "task": {
+  "primitive": "LM33",
+  "instruction": "Carry the open container and, while walking, reach in with one hand and take an item out, then put it back. Repeat as you walk. Do not stop."
  }
 }

actions/locomanipulation/LM33/session_012/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15674a5510252ef1dad7dd6041290ce7fa55175024719a2b3c5e212ac652709b
+size 4927640