Release update 2026-11-05: 5760 sessions, instructions, annotations (part 339)

actions/locomanipulation/LM10/session_022/cameras/gsi_online_calibration.json

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actions/locomanipulation/LM10/session_022/cameras/slam.npz

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actions/locomanipulation/LM10/session_022/meta.json

@@ -353,8 +353,8 @@
   "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)",
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    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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     "left": {
@@ -506,12 +506,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
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+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  "generated_at_utc": "2026-11-03T17:37:42.778067+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/LM10/session_022",
   "family": "locomanipulation",
   "primitive": "LM10",
   "source_session": "20261024/LM10/20261024_025703_session21"
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+ "task": {
+  "primitive": "LM10",
+  "instruction": "Take an object out of the bin at knee height, carry it across the room, and place it on the chest-height shelf. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+ },
  "objects": [
   {
    "name": "LittleBox1",
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    "source": "mocap",
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-   "source": "mocap",
-   "pose_frame": "rigid_body"
-  },
   {
    "name": "Table",
    "object_type": "Table",

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actions/locomanipulation/LM10/session_023/meta.json

@@ -353,8 +353,8 @@
   "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": {
@@ -506,12 +506,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
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+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
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+     "p90": 35.71
+    },
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+    "accepted": 3134,
+    "wrist_pos_err_mm_median": 32.9,
+    "per_camera": {
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+      "accepted": 3134,
+      "gate_deg": 30.0,
+      "offset_deg": 26.98,
+      "tier": "primary",
+      "dev_deg_median": 19.86,
+      "wrist_pos_err_mm_median": 32.9
+     }
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+     "interpolated": 2554,
+     "mean_hand": 833,
+     "no_body_fit": 659
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+    "observed_fraction_of_valid": 0.9481,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 1.58
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+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.4,
+      "p90": 18.4
+     },
+     "registered": {
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+      "p90": 16.0
+     }
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+     "p90": 22.26
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+    "accepted": 3623,
+    "wrist_pos_err_mm_median": 36.8,
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+      "accepted": 3623,
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+      "offset_deg": 33.31,
+      "tier": "primary",
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+     }
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+     "smplx": 2.16
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+    "hand_marker_to_mesh_mm": {
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+      "p90": 23.3
+     },
+     "registered": {
+      "median": 16.7,
+      "p90": 24.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:37:42.752453+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/LM10/session_023",
   "family": "locomanipulation",
   "primitive": "LM10",
   "source_session": "20261024/LM10/20261024_025951_session22"
  },
+ "task": {
+  "primitive": "LM10",
+  "instruction": "Take an object out of the bin at knee height, carry it across the room, and place it on the chest-height shelf. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+ },
  "objects": [
   {
    "name": "LittleBox1",
@@ -543,12 +657,6 @@
    "source": "mocap",
    "pose_frame": "rigid_body"
   },
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-   "name": "LittleBox6",
-   "object_type": "LittleBox",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
-  },
   {
    "name": "Table",
    "object_type": "Table",

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