Release update 2026-11-05: 5760 sessions, instructions, annotations (part 363)

actions/locomanipulation/LM11/session_010/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": "LM11",
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 128.966667,
+   "video": "left_eye",
+   "video_t_start": 0.03912765647677041
+  }
+ ],
+ "episodes": [
+  {
+   "id": "d5c2cc5c-a74e-4dbd-8d75-532a73d285f4",
+   "segment": "segment1",
+   "action": "LM11",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 125.125,
+   "t_start": 0.0391,
+   "t_end": 125.1641,
+   "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
+  }
+ ]
+}

actions/locomanipulation/LM11/session_010/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fd6e85927b0958fbac90da42b696fc20cec1a70a1b543086809c649021d07b8
+size 744011

actions/locomanipulation/LM11/session_010/meta.json

@@ -341,8 +341,8 @@
   "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": {
@@ -522,10 +522,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.8576732981314479
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 16.69,
+    "offset_rotvec": [
+     0.2489,
+     -0.1447,
+     -0.044
+    ],
+    "dev_deg": {
+     "median": 6.65,
+     "p90": 13.54
+    },
+    "samples": 3834,
+    "accepted": 3831,
+    "wrist_pos_err_mm_median": 34.7,
+    "per_camera": {
+     "head": {
+      "samples": 3834,
+      "accepted": 3831,
+      "gate_deg": 30.0,
+      "offset_deg": 16.69,
+      "tier": "primary",
+      "dev_deg_median": 6.65,
+      "wrist_pos_err_mm_median": 34.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15326,
+     "interpolated": 6,
+     "mean_hand": 147,
+     "no_body_fit": 5
+    },
+    "observed_fraction": 0.9902,
+    "observed_fraction_of_valid": 0.9905,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 17.88,
+     "smplx": 0.59
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.2,
+      "p90": 16.6
+     },
+     "registered": {
+      "median": 9.6,
+      "p90": 15.3
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 16.52,
+    "offset_rotvec": [
+     0.1102,
+     -0.265,
+     0.0273
+    ],
+    "dev_deg": {
+     "median": 9.86,
+     "p90": 22.35
+    },
+    "samples": 3681,
+    "accepted": 3518,
+    "wrist_pos_err_mm_median": 75.2,
+    "per_camera": {
+     "head": {
+      "samples": 3681,
+      "accepted": 3518,
+      "gate_deg": 30.0,
+      "offset_deg": 16.52,
+      "tier": "primary",
+      "dev_deg_median": 9.86,
+      "wrist_pos_err_mm_median": 75.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14188,
+     "interpolated": 804,
+     "mean_hand": 487,
+     "no_body_fit": 5
+    },
+    "observed_fraction": 0.9682,
+    "observed_fraction_of_valid": 0.9685,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 17.35,
+     "smplx": 0.42
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 17.6,
+      "p90": 28.7
+     },
+     "registered": {
+      "median": 17.1,
+      "p90": 27.9
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:54:02.932420+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/LM11/session_010",
   "family": "locomanipulation",
   "primitive": "LM11",
   "source_session": "20260920/LM11/20260920_010206_session7"
+ },
+ "task": {
+  "primitive": "LM11",
+  "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
  }
 }

actions/locomanipulation/LM11/session_010/motions/hands_mano.npz

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