Release update 2026-11-05: 5760 sessions, instructions, annotations (part 361)

actions/locomanipulation/LM11/session_009/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": 128.966689,
+   "video": "left_eye",
+   "video_t_start": 0.0391799081676818
+  }
+ ],
+ "episodes": [
+  {
+   "id": "0e85928c-05b2-4c95-97ab-6ef17771abf0",
+   "segment": "segment1",
+   "action": "LM11",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 123.675,
+   "t_start": 0.0392,
+   "t_end": 123.7142,
+   "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_009/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbb81914709862eadba7dd98d27d514d715aaef27575c46b45df241af74805cb
+size 743721

actions/locomanipulation/LM11/session_009/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": {
@@ -509,10 +509,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.8565455353652867
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 18.03,
+    "offset_rotvec": [
+     0.2931,
+     -0.1141,
+     -0.0085
+    ],
+    "dev_deg": {
+     "median": 5.48,
+     "p90": 9.73
+    },
+    "samples": 3817,
+    "accepted": 3814,
+    "wrist_pos_err_mm_median": 35.3,
+    "per_camera": {
+     "head": {
+      "samples": 3817,
+      "accepted": 3814,
+      "gate_deg": 30.0,
+      "offset_deg": 18.03,
+      "tier": "primary",
+      "dev_deg_median": 5.48,
+      "wrist_pos_err_mm_median": 35.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15254,
+     "interpolated": 10,
+     "mean_hand": 205,
+     "no_body_fit": 15
+    },
+    "observed_fraction": 0.9858,
+    "observed_fraction_of_valid": 0.9867,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 18.67,
+     "smplx": 0.6
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.1,
+      "p90": 15.7
+     },
+     "registered": {
+      "median": 9.7,
+      "p90": 14.7
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 16.12,
+    "offset_rotvec": [
+     0.0837,
+     -0.2682,
+     0.0168
+    ],
+    "dev_deg": {
+     "median": 6.49,
+     "p90": 12.09
+    },
+    "samples": 3782,
+    "accepted": 3661,
+    "wrist_pos_err_mm_median": 87.0,
+    "per_camera": {
+     "head": {
+      "samples": 3782,
+      "accepted": 3661,
+      "gate_deg": 30.0,
+      "offset_deg": 16.12,
+      "tier": "primary",
+      "dev_deg_median": 6.49,
+      "wrist_pos_err_mm_median": 87.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14652,
+     "interpolated": 76,
+     "mean_hand": 741,
+     "no_body_fit": 15
+    },
+    "observed_fraction": 0.9512,
+    "observed_fraction_of_valid": 0.9521,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 16.97,
+     "smplx": 0.59
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 15.8,
+      "p90": 28.5
+     },
+     "registered": {
+      "median": 15.2,
+      "p90": 27.8
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:54:02.983119+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_009",
   "family": "locomanipulation",
   "primitive": "LM11",
   "source_session": "20260920/LM11/20260920_005945_session6"
+ },
+ "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_009/motions/hands_mano.npz

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