Release update 2026-11-05: new sessions, instructions, annotations (part 60)

actions/locomanipulation/LM17/session_015/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": 113.966678,
+   "video": "left_eye",
+   "video_t_start": 0.039762104750936444
+  }
+ ],
+ "episodes": [
+  {
+   "id": "20f1ab6c-5c6e-495e-8bae-abea05e48a81",
+   "segment": "segment1",
+   "action": "LM17",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 109.23,
+   "t_start": 0.0398,
+   "t_end": 109.2698,
+   "instruction": "Rest the long object on the shoulder the operator calls and carry it across the room, back and forth."
+  }
+ ]
+}

actions/locomanipulation/LM17/session_015/cameras/slam.npz

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actions/locomanipulation/LM17/session_015/meta.json

@@ -329,8 +329,8 @@
   "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": 0.8503325316488506
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 22.42,
+    "offset_rotvec": [
+     -0.2472,
+     -0.2923,
+     0.0813
+    ],
+    "dev_deg": {
+     "median": 6.43,
+     "p90": 12.88
+    },
+    "samples": 3346,
+    "accepted": 3323,
+    "wrist_pos_err_mm_median": 67.8,
+    "per_camera": {
+     "head": {
+      "samples": 3346,
+      "accepted": 3323,
+      "gate_deg": 30.0,
+      "offset_deg": 22.42,
+      "tier": "primary",
+      "dev_deg_median": 6.43,
+      "wrist_pos_err_mm_median": 67.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13300,
+     "interpolated": 140,
+     "mean_hand": 5,
+     "no_body_fit": 239
+    },
+    "observed_fraction": 0.9822,
+    "observed_fraction_of_valid": 0.9996,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 20.64,
+     "smplx": 0.47
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.7,
+      "p90": 12.4
+     },
+     "registered": {
+      "median": 9.3,
+      "p90": 14.7
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 7.84,
+    "offset_rotvec": [
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+     -0.0647,
+     0.0699
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+    "dev_deg": {
+     "median": 3.29,
+     "p90": 9.6
+    },
+    "samples": 3248,
+    "accepted": 3239,
+    "wrist_pos_err_mm_median": 106.3,
+    "per_camera": {
+     "head": {
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+      "accepted": 3239,
+      "gate_deg": 30.0,
+      "offset_deg": 7.84,
+      "tier": "primary",
+      "dev_deg_median": 3.29,
+      "wrist_pos_err_mm_median": 106.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12990,
+     "interpolated": 450,
+     "mean_hand": 5,
+     "no_body_fit": 239
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+    "observed_fraction": 0.9822,
+    "observed_fraction_of_valid": 0.9996,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 7.41,
+     "smplx": 0.65
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 11.9,
+      "p90": 13.6
+     },
+     "registered": {
+      "median": 11.0,
+      "p90": 12.3
+     }
+    }
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+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:53:11.008223+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_015",
   "family": "locomanipulation",
   "primitive": "LM17",
   "source_session": "20260920/LM17/20260920_101808_session117"
+ },
+ "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_016/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": 103.966667,
+   "video": "left_eye",
+   "video_t_start": 0.03961869322111378
+  }
+ ],
+ "episodes": [
+  {
+   "id": "68822d83-a8d4-4dbb-af22-03bf8df8f541",
+   "segment": "segment1",
+   "action": "LM17",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 99.655,
+   "t_start": 0.0396,
+   "t_end": 99.6946,
+   "instruction": "Rest the long object on the shoulder the operator calls and carry it across the room, back and forth."
+  }
+ ]
+}

actions/locomanipulation/LM17/session_016/cameras/slam.npz

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actions/locomanipulation/LM17/session_016/meta.json

@@ -527,5 +527,9 @@
   "family": "locomanipulation",
   "primitive": "LM17",
   "source_session": "20260920/LM17/20260920_102017_session118"
+ },
+ "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_016/motions/hands_mano.npz

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