Release update 2026-11-05: new sessions, instructions, annotations (part 59)

actions/locomanipulation/LM17/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": "LM17",
+ "instruction": "Rest the long object on the shoulder the operator calls and carry it across the room, back and forth.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 123.9667,
+   "video": "left_eye",
+   "video_t_start": 0.03912623917429059
+  }
+ ],
+ "episodes": [
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+   "id": "5a9331c5-6fb5-4e6d-9d6f-b634892f44e1",
+   "segment": "segment1",
+   "action": "LM17",
+   "quality": "valid",
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+   "end_s": 121.547,
+   "t_start": 0.0391,
+   "t_end": 121.5861,
+   "instruction": "Rest the long object on the shoulder the operator calls and carry it across the room, back and forth."
+  }
+ ]
+}

actions/locomanipulation/LM17/session_013/cameras/slam.npz

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actions/locomanipulation/LM17/session_013/meta.json

@@ -328,8 +328,8 @@
   "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": {
@@ -528,10 +528,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.6324634449933828
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     -0.0054,
+     -0.1021,
+     0.0313
+    ],
+    "dev_deg": {
+     "median": 4.67,
+     "p90": 9.68
+    },
+    "samples": 3588,
+    "accepted": 3568,
+    "wrist_pos_err_mm_median": 149.1,
+    "per_camera": {
+     "head": {
+      "samples": 3588,
+      "accepted": 3568,
+      "gate_deg": 30.0,
+      "offset_deg": 6.13,
+      "tier": "primary",
+      "dev_deg_median": 4.67,
+      "wrist_pos_err_mm_median": 149.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14324,
+     "interpolated": 420,
+     "mean_hand": 140,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9906,
+    "observed_fraction_of_valid": 0.9906,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 5.5,
+     "smplx": 0.39
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.8,
+      "p90": 10.1
+     },
+     "registered": {
+      "median": 8.6,
+      "p90": 9.0
+     }
+    }
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+   "right": {
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+    "offset_rotvec": [
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+     0.0065,
+     0.0787
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+    "dev_deg": {
+     "median": 5.06,
+     "p90": 16.25
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+    "samples": 3624,
+    "accepted": 3489,
+    "wrist_pos_err_mm_median": 85.5,
+    "per_camera": {
+     "head": {
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+      "accepted": 3489,
+      "gate_deg": 30.0,
+      "offset_deg": 7.65,
+      "tier": "primary",
+      "dev_deg_median": 5.06,
+      "wrist_pos_err_mm_median": 85.5
+     }
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+    "frames_by_state": {
+     "ace_sample": 13988,
+     "interpolated": 488,
+     "mean_hand": 408,
+     "no_body_fit": 0
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+    "observed_fraction": 0.9726,
+    "observed_fraction_of_valid": 0.9726,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.48
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+    "hand_marker_to_mesh_mm": {
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+      "p90": 18.1
+     },
+     "registered": {
+      "median": 11.3,
+      "p90": 18.3
+     }
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+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:53:11.334224+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/LM17/session_013",
   "family": "locomanipulation",
   "primitive": "LM17",
   "source_session": "20260920/LM17/20260920_094630_session108"
+ },
+ "task": {
+  "primitive": "LM17",
+  "instruction": "Rest the long object on the shoulder the operator calls and carry it across the room, back and forth."
  }
 }

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actions/locomanipulation/LM17/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": "LM17",
+ "instruction": "Rest the long object on the shoulder the operator calls and carry it across the room, back and forth.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 108.966644,
+   "video": "left_eye",
+   "video_t_start": 0.03899929569541172
+  }
+ ],
+ "episodes": [
+  {
+   "id": "10780022-8585-40b9-afc7-8db36af07ea9",
+   "segment": "segment1",
+   "action": "LM17",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 106.27,
+   "t_start": 0.039,
+   "t_end": 106.309,
+   "instruction": "Rest the long object on the shoulder the operator calls and carry it across the room, back and forth."
+  }
+ ]
+}

actions/locomanipulation/LM17/session_014/cameras/slam.npz

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actions/locomanipulation/LM17/session_014/meta.json

@@ -551,5 +551,9 @@
   "family": "locomanipulation",
   "primitive": "LM17",
   "source_session": "20260920/LM17/20260920_095420_session111"
+ },
+ "task": {
+  "primitive": "LM17",
+  "instruction": "Rest the long object on the shoulder the operator calls and carry it across the room, back and forth."
  }
 }

actions/locomanipulation/LM17/session_014/motions/hands_mano.npz

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