Release update 2026-11-05: new sessions, instructions, annotations (part 116)

actions/locomanipulation/LM19/session_033/meta.json

@@ -376,8 +376,8 @@
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   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
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-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
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    "hand_marker_offsets_m": {
     "left": {
@@ -516,12 +516,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
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+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:42:55.881323+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
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+  "wrist_flip_suspect": []
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  "release": {
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   "family": "locomanipulation",
   "primitive": "LM19",
   "source_session": "20261017/LM19/20261017_033525_session44"
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+  "instruction": "Carry one object in each hand, the heavy one in the hand the operator calls, walking back and forth across the room."
+ },
  "objects": [
   {
    "name": "BigBox2",

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actions/locomanipulation/LM19/session_034/annotations.json

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+{
+ "schema_version": 1,
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+ "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": "LM19",
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+   "instruction": "Carry one object in each hand, the heavy one in the hand the operator calls, walking back and forth across the room."
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+ ]
+}

actions/locomanipulation/LM19/session_034/cameras/gsi_online_calibration.json

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actions/locomanipulation/LM19/session_035/annotations.json

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+   "instruction": "Carry one object in each hand, the heavy one in the hand the operator calls, walking back and forth across the room."
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+}

actions/locomanipulation/LM19/session_035/cameras/gsi_online_calibration.json

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   "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": {
@@ -498,19 +498,127 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
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+    "offset_rotvec": [
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+     -0.2073
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+     "p90": 36.34
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+    "accepted": 3136,
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+      "gate_deg": 30.0,
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+      "tier": "primary",
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+     "smplx": 0.82
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+      "median": 7.5,
+      "p90": 12.7
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:55:17.088382+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/LM19/session_036",
   "family": "locomanipulation",
   "primitive": "LM19",
   "source_session": "20261022/LM19/20261022_055042_session61"
  },
+ "task": {
+  "primitive": "LM19",
+  "instruction": "Carry one object in each hand, the heavy one in the hand the operator calls, walking back and forth across the room."
+ },
  "objects": [
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-   "name": "ArmlessChair",
-   "object_type": "ArmlessChair",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
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   {
    "name": "BigBox2",
    "object_type": "BigBox",
@@ -528,42 +636,6 @@
    "object_type": "LittleBox",
    "source": "mocap",
    "pose_frame": "mesh"
-  },
-  {
-   "name": "LittleBox3",
-   "object_type": "LittleBox",
-   "source": "mocap",
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-   "object_type": "LittleBox",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
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-   "name": "LittleBox5",
-   "object_type": "LittleBox",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
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-   "name": "LittleBox6",
-   "object_type": "LittleBox",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
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-  {
-   "name": "Table2",
-   "object_type": "Table",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
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-  {
-   "name": "Desk",
-   "object_type": "Desk",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
   }
  ]
 }

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+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 10.48,
+    "Q_rotvec": [
+     -0.08982,
+     0.09424,
+     0.12844
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 31.4,
+    "opposite_sign_bend_deg": 153.5,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 0.58,
+    "hand_vs_marker_frame_deg": {
+     "before": 10.5,
+     "after": 0.58
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -21.69,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -1.9,
+       2.6
+      ]
+     },
+     "wrist_total_deg_median_after": 23.3,
+     "markers_on_forearm": [
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 19.57,
+    "Q_rotvec": [
+     -0.08435,
+     0.13391,
+     -0.3026
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 50.2,
+    "opposite_sign_bend_deg": 172.9,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 1.75,
+    "hand_vs_marker_frame_deg": {
+     "before": 19.37,
+     "after": 1.75
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -18.24,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -3.5,
+       6.5
+      ]
+     },
+     "wrist_total_deg_median_after": 48.3,
+     "markers_on_forearm": [
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-11-02T15:39:55.630782+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/locomanipulation/LM19/session_037",
+  "family": "locomanipulation",
+  "primitive": "LM19",
+  "source_session": "20261028/LM19/20261028_081318_session76"
+ },
+ "task": {
+  "primitive": "LM19",
+  "instruction": "Carry one object in each hand, the heavy one in the hand the operator calls, walking back and forth across the room."
+ },
+ "objects": [
+  {
+   "name": "BigBox2",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "LittleBox5",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  }
+ ]
+}

actions/locomanipulation/LM19/session_037/motions/head_rig.npz

@@ -0,0 +1,3 @@
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+size 1307242