Release update 2026-11-05: new sessions, instructions, annotations (part 133)

actions/locomanipulation/LM20/session_031/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fb6c21037494cb28b887ca2c4be46299ae8bca9ba6a775f320727c4a3728c89
+size 2785611

actions/locomanipulation/LM20/session_031/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a6b03357980a2fd6f6ad72dd210dbfab3abe965f71dfdab596ed0bb94d95dfc8
-size 5509228
+oid sha256:5a059cbcdb6c2a47a490c39796bb2487a1231f3fb7b9842ece849375ca1ac7c6
+size 8810810

actions/locomanipulation/LM20/session_032/cameras/gsi_online_calibration.json

@@ -0,0 +1,208 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.417
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 2.3665,
+   "gate_fail": [],
+   "held_out_px_after": 0.738,
+   "held_out_px_before": 6.038,
+   "inliers": 435,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.8983,
+    -1.2957,
+    0.5637
+   ],
+   "split_deg": 0.3112,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.8572,
+   "gate_fail": [],
+   "held_out_px_after": 0.577,
+   "held_out_px_before": 4.662,
+   "inliers": 1629,
+   "position_fitted": true,
+   "position_mm": [
+    -0.75,
+    -18.76,
+    4.46
+   ],
+   "position_sigma_mm": 0.174,
+   "position_split_mm": 7.303,
+   "rotvec_deg": [
+    -0.1025,
+    -0.2957,
+    0.798
+   ],
+   "split_deg": 0.1446,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.619,
+   "gate_fail": [],
+   "held_out_px_after": 0.503,
+   "held_out_px_before": 8.086,
+   "inliers": 971,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.1005,
+    -0.9599,
+    2.7863
+   ],
+   "split_deg": 0.1494,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.8867,
+   "gate_fail": [],
+   "held_out_px_after": 0.432,
+   "held_out_px_before": 6.759,
+   "inliers": 2228,
+   "position_fitted": true,
+   "position_mm": [
+    -2.84,
+    -16.61,
+    4.16
+   ],
+   "position_sigma_mm": 0.145,
+   "position_split_mm": 5.789,
+   "rotvec_deg": [
+    0.3594,
+    -0.8936,
+    1.6223
+   ],
+   "split_deg": 0.1425,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.9486,
+   "gate_fail": [],
+   "held_out_px_after": 0.38,
+   "held_out_px_before": 5.346,
+   "inliers": 2684,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.6784,
+    -0.4228,
+    -0.5108
+   ],
+   "split_deg": 0.0245,
+   "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": "edb9508e516fd52471340a75e9aec2c04c6f0d8bd3433553858791804220b49b",
+   "source_sha256": "2bf43346f9825da1c051096d46ceb924252959c0c3fed4ac9c166c6096121ae0"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "0b9f59ffa05752a71156f74903fd9f89bb9b6c109695949087abc8ad59ff0b91",
+   "source_sha256": "b80f390816142bc598f6a58e17810083d07270f17802c79b0d33dade12e1a7ed"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "a66f25b7df5444a5a69ff472d39d43e3896813e3cd811cc9d5f6607e9aec5d16",
+   "source_sha256": "55ee2a9af25410709c73762b726e1a41e5450b277090a5256571601dd5fd719b"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "2fdb58cb78b7f0353bc3b8a128698d1703aea0f5fa48b6fcfc1d35acfffe132a",
+   "source_sha256": "b2fcef709086e19cb082ae12586aebd1a6fa9a92db90015c1c5a641f4588dfc7"
+  }
+ },
+ "input_fingerprint": "1f11f156324db75a",
+ "kind": "online_calibration",
+ "output_sha256": "507d8c885a74adcaf2b35fa046a42d126b4d460a289cd273e11bcac39f01a69e",
+ "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": 34.895,
+  "left_eye": 34.235,
+  "left_front": 40.547,
+  "right": 36.515,
+  "right_eye": 37.331,
+  "right_front": 41.938
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   31094350618222,
+   31108350607111,
+   31118350618222,
+   31130350596000,
+   31144350618222,
+   31165350651555,
+   31166350607111,
+   31191350696000,
+   31192350673777
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM20/session_032/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13ddbb303c63b7d66a81efe9aa64b4711523fcec234b4f4937e3a24a67a21af5
+size 741801

actions/locomanipulation/LM20/session_032/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": {
@@ -528,12 +528,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 11.42,
+    "offset_rotvec": [
+     0.1242,
+     0.0651,
+     -0.1415
+    ],
+    "dev_deg": {
+     "median": 19.25,
+     "p90": 34.23
+    },
+    "samples": 705,
+    "accepted": 575,
+    "wrist_pos_err_mm_median": 147.5,
+    "per_camera": {
+     "head": {
+      "samples": 705,
+      "accepted": 575,
+      "gate_deg": 30.0,
+      "offset_deg": 11.42,
+      "tier": "primary",
+      "dev_deg_median": 19.25,
+      "wrist_pos_err_mm_median": 147.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 2308,
+     "interpolated": 1876,
+     "mean_hand": 11300,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.2702,
+    "observed_fraction_of_valid": 0.2702,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 22.42,
+     "smplx": 1.06
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 13.3,
+      "p90": 15.7
+     },
+     "registered": {
+      "median": 13.3,
+      "p90": 15.2
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 19.56,
+    "offset_rotvec": [
+     0.2926,
+     -0.0655,
+     0.1631
+    ],
+    "dev_deg": {
+     "median": 4.94,
+     "p90": 10.4
+    },
+    "samples": 3715,
+    "accepted": 3699,
+    "wrist_pos_err_mm_median": 26.6,
+    "per_camera": {
+     "head": {
+      "samples": 3715,
+      "accepted": 3699,
+      "gate_deg": 30.0,
+      "offset_deg": 19.56,
+      "tier": "primary",
+      "dev_deg_median": 4.94,
+      "wrist_pos_err_mm_median": 26.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14986,
+     "interpolated": 482,
+     "mean_hand": 16,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.999,
+    "observed_fraction_of_valid": 0.999,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 20.07,
+     "smplx": 1.06
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 23.0,
+      "p90": 35.8
+     },
+     "registered": {
+      "median": 22.9,
+      "p90": 35.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T18:07:48.203135+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/LM20/session_032",
   "family": "locomanipulation",
   "primitive": "LM20",
   "source_session": "20261022/LM20/20261022_090927_session66"
  },
+ "task": {
+  "primitive": "LM20",
+  "instruction": "Carry the large light object across the room, back and forth. It is awkward rather than heavy, so hold it however works."
+ },
  "objects": [
   {
    "name": "BigBox",

actions/locomanipulation/LM20/session_032/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d81640fb02bc9a399cf473db3fe686d15d568ccad3914ea1354059849f9bf68e
+size 3034730

actions/locomanipulation/LM20/session_032/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8a75022f7e3b2350a25a0f613bb0954982aaf8257120a8e511a4ffbf93cc2187
-size 5950438
+oid sha256:244940c3d6b21e51ecb71bc1627b360af2fdc650888307d5ee4ab9366df19d98
+size 9433052