Release update 2026-11-05: new sessions, instructions, annotations (part 231)

actions/locomanipulation/LM27/session_012/meta.json

@@ -509,5 +509,9 @@
   "family": "locomanipulation",
   "primitive": "LM27",
   "source_session": "20260922/LM27/20260922_022729_session21"
+ },
+ "task": {
+  "primitive": "LM27",
+  "instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take."
  }
 }

actions/locomanipulation/LM27/session_012/motions/hands_mano.npz

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actions/locomanipulation/LM27/session_013/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": "LM27",
+ "instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 103.966711,
+   "video": "left_eye",
+   "video_t_start": 0.03893230749811871
+  }
+ ],
+ "episodes": [
+  {
+   "id": "82abc441-2d95-424c-8026-bc976d4247dc",
+   "segment": "segment1",
+   "action": "LM27",
+   "quality": "valid",
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+   "end_s": 99.52,
+   "t_start": 0.0389,
+   "t_end": 99.5589,
+   "instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take."
+  }
+ ]
+}

actions/locomanipulation/LM27/session_013/cameras/slam.npz

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actions/locomanipulation/LM27/session_013/meta.json

@@ -327,8 +327,8 @@
   "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": {
@@ -514,10 +514,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.1785130850230112
  },
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+  "hands": {
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+    "offset_rotvec": [
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+     0.0251,
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+     "median": 4.24,
+     "p90": 16.86
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+    "samples": 3054,
+    "accepted": 2832,
+    "wrist_pos_err_mm_median": 51.0,
+    "per_camera": {
+     "head": {
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+      "accepted": 2832,
+      "gate_deg": 30.0,
+      "offset_deg": 1.68,
+      "tier": "primary",
+      "dev_deg_median": 4.24,
+      "wrist_pos_err_mm_median": 51.0
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+    "frames_by_state": {
+     "ace_sample": 11340,
+     "interpolated": 156,
+     "mean_hand": 980,
+     "no_body_fit": 8
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+    "observed_fraction": 0.9209,
+    "observed_fraction_of_valid": 0.9214,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 3.4,
+     "smplx": 1.14
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+    "hand_marker_to_mesh_mm": {
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+      "p90": 9.7
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+     -0.0083
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+     "median": 5.58,
+     "p90": 23.4
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+    "samples": 3069,
+    "accepted": 2803,
+    "wrist_pos_err_mm_median": 61.8,
+    "per_camera": {
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+      "accepted": 2803,
+      "gate_deg": 30.0,
+      "offset_deg": 6.58,
+      "tier": "primary",
+      "dev_deg_median": 5.58,
+      "wrist_pos_err_mm_median": 61.8
+     }
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+    "frames_by_state": {
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+     "interpolated": 312,
+     "mean_hand": 944,
+     "no_body_fit": 8
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+    "observed_fraction": 0.9237,
+    "observed_fraction_of_valid": 0.9243,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.88
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+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.1,
+      "p90": 6.8
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+     "registered": {
+      "median": 6.0,
+      "p90": 8.4
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+    }
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+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:43:45.522953+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/LM27/session_013",
   "family": "locomanipulation",
   "primitive": "LM27",
   "source_session": "20260922/LM27/20260922_083928_session122"
+ },
+ "task": {
+  "primitive": "LM27",
+  "instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take."
  }
 }

actions/locomanipulation/LM27/session_013/motions/hands_mano.npz

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actions/locomanipulation/LM27/session_013/motions/smplx.npz

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actions/locomanipulation/LM27/session_014/annotations.json

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+{
+ "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": "LM27",
+ "instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 113.966711,
+   "video": "left_eye",
+   "video_t_start": 0.03909884237010086
+  }
+ ],
+ "episodes": [
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+   "id": "dbc2ca0b-a6dd-4696-ac19-45fc91370814",
+   "segment": "segment1",
+   "action": "LM27",
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+   "t_start": 0.0391,
+   "t_end": 112.0741,
+   "instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take."
+  }
+ ]
+}

actions/locomanipulation/LM27/session_014/cameras/slam.npz

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actions/locomanipulation/LM27/session_014/meta.json

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   "hands": {
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-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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+   "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",
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@@ -512,10 +512,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.9484743754961892
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+    "dev_deg": {
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+     "p90": 16.55
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+    "samples": 3397,
+    "accepted": 3195,
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+    "per_camera": {
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+      "tier": "primary",
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+    "palm_axis_vs_markers_deg": {
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   "source_session": "20260922/LM27/20260922_084131_session123"
+ },
+ "task": {
+  "primitive": "LM27",
+  "instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take."
  }
 }

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