Release update 2026-11-05: new sessions, instructions, annotations (part 38)

actions/locomanipulation/LM15/session_044/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e6e0019ce373bdb11d4675c1b1764c1abc5905e4076dcc0de185903783f2aeb2
-size 6491949
+oid sha256:c65ce0937a9947f0bed91e4f6342d3dde05b1b3389c664cb5b0d392339c9763f
+size 11308885

actions/locomanipulation/LM15/session_045/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": 124.8667,
+   "video": "left_eye",
+   "video_t_start": 0.0395823424750483
+  }
+ ],
+ "episodes": [
+  {
+   "id": "dd149b92-5778-4448-911f-0a49623e9d53",
+   "segment": "segment1",
+   "action": "LM15",
+   "quality": "valid",
+   "start_s": 0.801,
+   "end_s": 121.296,
+   "t_start": 0.8406,
+   "t_end": 121.3356,
+   "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_045/cameras/gsi_online_calibration.json

@@ -0,0 +1,252 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.362
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.4956,
+   "gate_fail": [],
+   "held_out_px_after": 0.556,
+   "held_out_px_before": 21.593,
+   "inliers": 1383,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.1599,
+    -0.2315,
+    -0.9154
+   ],
+   "split_deg": 0.335,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.4655,
+   "gate_fail": [],
+   "held_out_px_after": 0.678,
+   "held_out_px_before": 5.63,
+   "inliers": 1716,
+   "position_fitted": true,
+   "position_mm": [
+    7.63,
+    -30.37,
+    -7.56
+   ],
+   "position_sigma_mm": 0.261,
+   "position_split_mm": 3.378,
+   "rotvec_deg": [
+    1.7641,
+    -0.6794,
+    1.5828
+   ],
+   "split_deg": 0.125,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.3661,
+   "gate_fail": [],
+   "held_out_px_after": 0.632,
+   "held_out_px_before": 10.341,
+   "inliers": 1303,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.4928,
+    -1.1394,
+    2.7936
+   ],
+   "split_deg": 0.2772,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 3.2015,
+   "gate_fail": [],
+   "held_out_px_after": 0.42,
+   "held_out_px_before": 5.418,
+   "inliers": 1943,
+   "position_fitted": true,
+   "position_mm": [
+    0.6,
+    -18.77,
+    -0.18
+   ],
+   "position_sigma_mm": 0.334,
+   "position_split_mm": 3.518,
+   "rotvec_deg": [
+    1.9244,
+    -1.1701,
+    2.2753
+   ],
+   "split_deg": 0.0225,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.4275,
+   "gate_fail": [],
+   "held_out_px_after": 0.315,
+   "held_out_px_before": 2.25,
+   "inliers": 3262,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2538,
+    -0.3437,
+    0.0124
+   ],
+   "split_deg": 0.0283,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "9098cc6df24ea9a18faaa9a6a731b310ae02399f031ba2a12ce2c22f84a05def",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "f1141e04a48d02ccd2537cd26a3fafdb6a6c82c9fbf242903e5494df99e2d945",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "5f19309cdfb29c6383e74a8e711ec031c64d88484cff1a1bc6fed4bbd1737379",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "fbc28bddbba9a0dbdfb2af5744c5ba3dd830edd6a49aeaa70e725a5013474c16",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "2b2268023c0d1c8f",
+ "kind": "online_calibration",
+ "output_sha256": "6e73ef3bd20712f7994ddeff0aad426e00fd94cf377dcc226d37986f0c2b0ae6",
+ "overlap": {
+  "left-right": 0.5,
+  "left_eye-left": 0.695,
+  "left_eye-right": 0.702,
+  "left_front-left": 0.506,
+  "left_front-left_eye": 0.692,
+  "left_front-right": 0.458,
+  "left_front-right_eye": 0.698,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.699,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.706,
+  "right_front-left": 0.49,
+  "right_front-left_eye": 0.697,
+  "right_front-right": 0.464,
+  "right_front-right_eye": 0.704
+ },
+ "picture_change": {
+  "left": 39.42,
+  "left_eye": 36.433,
+  "left_front": 40.575,
+  "right": 37.234,
+  "right_eye": 38.019,
+  "right_front": 41.07
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   13115408846000,
+   13116408846000,
+   13119408868222,
+   13120408879333,
+   13121408868222,
+   13126408990444,
+   13127408868222,
+   13130408846000,
+   13131408879333,
+   13134408857111,
+   13135408868222,
+   13139408857111,
+   13140408990444,
+   13141408868222,
+   13147408890444,
+   13148408857111,
+   13149408857111,
+   13153408934888,
+   13154408868222,
+   13157408857111,
+   13158408846000,
+   13163408879333,
+   13164408890444,
+   13165408879333,
+   13169408868222,
+   13170408846000,
+   13175408879333,
+   13176408901555,
+   13179408890444,
+   13180408868222,
+   13181408890444,
+   13186408846000,
+   13187408879333,
+   13191408868222,
+   13192408846000,
+   13193408879333,
+   13198408846000,
+   13199408868222,
+   13202408868222,
+   13203408868222,
+   13206408879333,
+   13207408857111,
+   13208408868222,
+   13209408868222,
+   13214408901555,
+   13215408846000,
+   13219408868222,
+   13220408868222,
+   13221408868222,
+   13224408868222,
+   13225408857111,
+   13228408868222,
+   13229408901555
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM15/session_045/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9797bafed121a5139e49c49d2fc9a5c7e920e76257634e9c2f06409782e3928
+size 718342

actions/locomanipulation/LM15/session_045/meta.json

@@ -379,8 +379,8 @@
   "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": {
@@ -520,12 +520,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 58.51,
+    "offset_rotvec": [
+     0.581,
+     -0.7986,
+     -0.2595
+    ],
+    "dev_deg": {
+     "median": 20.21,
+     "p90": 64.18
+    },
+    "samples": 3376,
+    "accepted": 2485,
+    "wrist_pos_err_mm_median": 72.6,
+    "per_camera": {
+     "head": {
+      "samples": 3376,
+      "accepted": 2485,
+      "gate_deg": 30.0,
+      "offset_deg": 58.51,
+      "tier": "primary",
+      "dev_deg_median": 20.21,
+      "wrist_pos_err_mm_median": 72.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10160,
+     "interpolated": 1932,
+     "mean_hand": 2893,
+     "no_body_fit": 7
+    },
+    "observed_fraction": 0.8066,
+    "observed_fraction_of_valid": 0.8069,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 59.69,
+     "smplx": 1.33
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.1,
+      "p90": 8.4
+     },
+     "registered": {
+      "median": 7.2,
+      "p90": 10.0
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 26.93,
+    "offset_rotvec": [
+     0.3438,
+     0.2554,
+     0.1937
+    ],
+    "dev_deg": {
+     "median": 13.29,
+     "p90": 32.59
+    },
+    "samples": 2773,
+    "accepted": 2450,
+    "wrist_pos_err_mm_median": 75.5,
+    "per_camera": {
+     "head": {
+      "samples": 2773,
+      "accepted": 2450,
+      "gate_deg": 30.0,
+      "offset_deg": 26.93,
+      "tier": "primary",
+      "dev_deg_median": 13.29,
+      "wrist_pos_err_mm_median": 75.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10048,
+     "interpolated": 3688,
+     "mean_hand": 1249,
+     "no_body_fit": 7
+    },
+    "observed_fraction": 0.9162,
+    "observed_fraction_of_valid": 0.9166,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 24.69,
+     "smplx": 0.46
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 15.8,
+      "p90": 22.8
+     },
+     "registered": {
+      "median": 15.7,
+      "p90": 22.1
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:43:31.978814+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_045",
   "family": "locomanipulation",
   "primitive": "LM15",
   "source_session": "20261017/LM15/20261017_041731_session56"
  },
+ "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": "BigBox",

actions/locomanipulation/LM15/session_045/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3622b563b97c2e87c208cc08b65e4234c9153e5470b1557bc17e19886fd6d93e
+size 4185050

actions/locomanipulation/LM15/session_045/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b55cf0bd99de24670f7255a95f284ee27db906617e521e3fd077315318cc4cfd
-size 5763016
+oid sha256:970b9e08d22aa99e21a325efc1e63c74bba9ab96b9ff37b7e434888afec44504
+size 10245790

actions/locomanipulation/LM15/session_046/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": 118.766667,
+   "video": "left_eye",
+   "video_t_start": -0.01792401799341449
+  }
+ ],
+ "episodes": [
+  {
+   "id": "8f7f9b4f-3948-4f39-86e4-e2b6491644ab",
+   "segment": "segment1",
+   "action": "LM15",
+   "quality": "valid",
+   "start_s": 3.478,
+   "end_s": 115.236,
+   "t_start": 3.4601,
+   "t_end": 115.2181,
+   "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/cameras/gsi_online_calibration.json

@@ -0,0 +1,258 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.392
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.445,
+   "gate_fail": [],
+   "held_out_px_after": 0.56,
+   "held_out_px_before": 10.985,
+   "inliers": 1304,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.1915,
+    -0.119,
+    -0.8089
+   ],
+   "split_deg": 0.2069,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.5813,
+   "gate_fail": [],
+   "held_out_px_after": 0.474,
+   "held_out_px_before": 7.217,
+   "inliers": 3027,
+   "position_fitted": true,
+   "position_mm": [
+    -1.02,
+    -23.17,
+    -4.38
+   ],
+   "position_sigma_mm": 0.263,
+   "position_split_mm": 3.351,
+   "rotvec_deg": [
+    1.9037,
+    -0.7407,
+    1.5781
+   ],
+   "split_deg": 0.1316,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.4884,
+   "gate_fail": [],
+   "held_out_px_after": 0.541,
+   "held_out_px_before": 10.825,
+   "inliers": 2236,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.6782,
+    -1.1763,
+    2.823
+   ],
+   "split_deg": 0.0937,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 3.414,
+   "gate_fail": [],
+   "held_out_px_after": 0.459,
+   "held_out_px_before": 5.41,
+   "inliers": 3127,
+   "position_fitted": true,
+   "position_mm": [
+    2.84,
+    -17.06,
+    -2.75
+   ],
+   "position_sigma_mm": 0.201,
+   "position_split_mm": 1.097,
+   "rotvec_deg": [
+    2.1622,
+    -1.2099,
+    2.3487
+   ],
+   "split_deg": 0.1473,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.4169,
+   "gate_fail": [],
+   "held_out_px_after": 0.337,
+   "held_out_px_before": 2.464,
+   "inliers": 4685,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2526,
+    -0.3316,
+    -0.0086
+   ],
+   "split_deg": 0.091,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "f8d2d3dad453c473835a8baba67675c17222790746504c9fc39d02cfc5c3baaa",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "dd7609fa25f68c9ec28fa5d18297e2f99986bd852f914819db5341fa5dd59c53",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "1e49ac3cff695e6ec16053d36c10b3ca90785d6766173161887a5aefb9c6afd2",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "4d46f42ffecde0533228605071442b8dffd00d7c05c53fdc14405c2fa25416fc",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "d45e5b7a046f5c44",
+ "kind": "online_calibration",
+ "output_sha256": "03c237be1980b57db601d4e98288adbf8a0c0857e0c249f1ab5ddd63e6c12bd5",
+ "overlap": {
+  "left-right": 0.5,
+  "left_eye-left": 0.695,
+  "left_eye-right": 0.702,
+  "left_front-left": 0.506,
+  "left_front-left_eye": 0.692,
+  "left_front-right": 0.458,
+  "left_front-right_eye": 0.698,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.699,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.706,
+  "right_front-left": 0.49,
+  "right_front-left_eye": 0.697,
+  "right_front-right": 0.464,
+  "right_front-right_eye": 0.704
+ },
+ "picture_change": {
+  "left": 44.608,
+  "left_eye": 42.531,
+  "left_front": 51.762,
+  "right": 42.568,
+  "right_eye": 45.637,
+  "right_front": 50.279
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   3725403155555,
+   3726403100000,
+   3728403100000,
+   3729403111111,
+   3735403077777,
+   3736403111111,
+   3739403111111,
+   3740403166666,
+   3741403077777,
+   3742403111111,
+   3744403111111,
+   3745403100000,
+   3750403077777,
+   3751403100000,
+   3753403166666,
+   3754403111111,
+   3757403077777,
+   3758403077777,
+   3759403100000,
+   3760403088888,
+   3764403077777,
+   3765403077777,
+   3767403088888,
+   3768403077777,
+   3773403155555,
+   3774403088888,
+   3778403100000,
+   3779403100000,
+   3780403111111,
+   3784403111111,
+   3785403155555,
+   3788403077777,
+   3789403111111,
+   3793403088888,
+   3794403077777,
+   3797403111111,
+   3798403100000,
+   3799403111111,
+   3800403122222,
+   3803403088888,
+   3804403100000,
+   3806403111111,
+   3807403077777,
+   3811403077777,
+   3812403088888,
+   3816403100000,
+   3817403111111,
+   3818403244444,
+   3819403133333,
+   3822403122222,
+   3823403077777,
+   3825403077777,
+   3826403100000,
+   3831403233333,
+   3832403077777,
+   3833403088888,
+   3834403100000,
+   3839403077777,
+   3840403122222
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM15/session_046/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d11704097b114701405c700f21bbe9acfd06438ec1e30e45f09003f18d0c0cab
+size 683924