Release update 2026-11-05: new sessions, instructions, annotations (part 102)

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actions/locomanipulation/LM18/session_046/cameras/slam.npz

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actions/locomanipulation/LM18/session_046/meta.json

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actions/locomanipulation/LM18/session_047/cameras/slam.npz

@@ -0,0 +1,3 @@
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+oid sha256:ace8037daf6f78a9c229bcb9a2219d4059d1cbf4dcd6711a94afc4a765b8f05b
+size 752502

actions/locomanipulation/LM18/session_047/meta.json

@@ -365,8 +365,8 @@
   "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": {
@@ -514,12 +514,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 45.73,
+    "offset_rotvec": [
+     0.6569,
+     -0.4525,
+     0.0278
+    ],
+    "dev_deg": {
+     "median": 17.17,
+     "p90": 36.65
+    },
+    "samples": 3702,
+    "accepted": 3130,
+    "wrist_pos_err_mm_median": 67.3,
+    "per_camera": {
+     "head": {
+      "samples": 3702,
+      "accepted": 3130,
+      "gate_deg": 30.0,
+      "offset_deg": 45.73,
+      "tier": "primary",
+      "dev_deg_median": 17.17,
+      "wrist_pos_err_mm_median": 67.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12690,
+     "interpolated": 2010,
+     "mean_hand": 1014,
+     "no_body_fit": 2
+    },
+    "observed_fraction": 0.9354,
+    "observed_fraction_of_valid": 0.9355,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 46.67,
+     "smplx": 4.31
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.2,
+      "p90": 9.4
+     },
+     "registered": {
+      "median": 6.8,
+      "p90": 8.4
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 37.06,
+    "offset_rotvec": [
+     0.4342,
+     0.4794,
+     -0.0077
+    ],
+    "dev_deg": {
+     "median": 23.3,
+     "p90": 42.01
+    },
+    "samples": 2313,
+    "accepted": 1618,
+    "wrist_pos_err_mm_median": 71.2,
+    "per_camera": {
+     "head": {
+      "samples": 2313,
+      "accepted": 1618,
+      "gate_deg": 30.0,
+      "offset_deg": 37.06,
+      "tier": "primary",
+      "dev_deg_median": 23.3,
+      "wrist_pos_err_mm_median": 71.2
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 7412,
+     "mean_hand": 1422,
+     "no_body_fit": 2
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+    "observed_fraction": 0.9094,
+    "observed_fraction_of_valid": 0.9095,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 45.7,
+     "smplx": 1.29
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.2,
+      "p90": 5.9
+     },
+     "registered": {
+      "median": 5.5,
+      "p90": 6.1
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:37:30.582534+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/LM18/session_047",
   "family": "locomanipulation",
   "primitive": "LM18",
   "source_session": "20261024/LM18/20261024_120451_session22"
  },
+ "task": {
+  "primitive": "LM18",
+  "instruction": "Hold the object against your hip on the side the operator calls, and carry it back and forth across the room."
+ },
  "objects": [
   {
    "name": "BigBox2",