Release update 2026-11-05: new sessions, instructions, annotations (part 368)

actions/locomanipulation/LM36/session_021/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": "LM36",
+ "instruction": "Carry the open tray of loose items across the room, back and forth, trying not to let anything fall out.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 133.966767,
+   "video": "left_eye",
+   "video_t_start": 0.03910603898546405
+  }
+ ],
+ "episodes": [
+  {
+   "id": "03ccd41c-90e4-4d41-9024-3bb9902062b1",
+   "segment": "segment1",
+   "action": "LM36",
+   "quality": "valid",
+   "start_s": 1.017,
+   "end_s": 130.892,
+   "t_start": 1.0561,
+   "t_end": 130.9311,
+   "instruction": "Carry the open tray of loose items across the room, back and forth, trying not to let anything fall out."
+  }
+ ]
+}

actions/locomanipulation/LM36/session_021/cameras/slam.npz

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actions/locomanipulation/LM36/session_021/meta.json

@@ -363,8 +363,8 @@
   "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": {
@@ -518,12 +518,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     0.5375,
+     0.0399,
+     -0.1562
+    ],
+    "dev_deg": {
+     "median": 9.18,
+     "p90": 24.18
+    },
+    "samples": 3928,
+    "accepted": 3635,
+    "wrist_pos_err_mm_median": 51.8,
+    "per_camera": {
+     "head": {
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+      "accepted": 3635,
+      "gate_deg": 30.0,
+      "offset_deg": 32.15,
+      "tier": "primary",
+      "dev_deg_median": 9.18,
+      "wrist_pos_err_mm_median": 51.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14574,
+     "interpolated": 746,
+     "mean_hand": 764,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9525,
+    "observed_fraction_of_valid": 0.9525,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 34.47,
+     "smplx": 1.33
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.9,
+      "p90": 11.5
+     },
+     "registered": {
+      "median": 7.6,
+      "p90": 13.2
+     }
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+     -0.2569,
+     0.08
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+     "p90": 27.82
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+    "samples": 3637,
+    "accepted": 3327,
+    "wrist_pos_err_mm_median": 68.7,
+    "per_camera": {
+     "head": {
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+      "accepted": 3327,
+      "gate_deg": 30.0,
+      "offset_deg": 29.95,
+      "tier": "primary",
+      "dev_deg_median": 11.25,
+      "wrist_pos_err_mm_median": 68.7
+     }
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+    "frames_by_state": {
+     "ace_sample": 13448,
+     "interpolated": 1852,
+     "mean_hand": 784,
+     "no_body_fit": 0
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+    "observed_fraction": 0.9513,
+    "observed_fraction_of_valid": 0.9513,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 32.55,
+     "smplx": 1.02
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.9,
+      "p90": 10.5
+     },
+     "registered": {
+      "median": 7.4,
+      "p90": 12.5
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:08:41.148919+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/LM36/session_021",
   "family": "locomanipulation",
   "primitive": "LM36",
   "source_session": "20261013/LM36/20261013_061128_session97"
  },
+ "task": {
+  "primitive": "LM36",
+  "instruction": "Carry the open tray of loose items across the room, back and forth, trying not to let anything fall out."
+ },
  "objects": [
   {
    "name": "LittleBox1",
@@ -531,12 +645,6 @@
    "source": "mocap",
    "pose_frame": "rigid_body"
   },
-  {
-   "name": "LittleBox2",
-   "object_type": "LittleBox",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
-  },
   {
    "name": "LittleBox3",
    "object_type": "LittleBox",

actions/locomanipulation/LM36/session_021/motions/hands_mano.npz

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+size 5146036

actions/locomanipulation/LM36/session_021/motions/smplx.npz

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actions/locomanipulation/LM36/session_022/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": "LM36",
+ "instruction": "Carry the open tray of loose items across the room, back and forth, trying not to let anything fall out.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 138.966567,
+   "video": "left_eye",
+   "video_t_start": -0.01931293744527139
+  }
+ ],
+ "episodes": [
+  {
+   "id": "61ac4950-1484-46d3-afa1-06724850bc91",
+   "segment": "segment1",
+   "action": "LM36",
+   "quality": "valid",
+   "start_s": 1.951,
+   "end_s": 122.891,
+   "t_start": 1.9317,
+   "t_end": 122.8717,
+   "instruction": "Carry the open tray of loose items across the room, back and forth, trying not to let anything fall out."
+  }
+ ]
+}

actions/locomanipulation/LM36/session_022/cameras/slam.npz

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+size 798148

actions/locomanipulation/LM36/session_022/meta.json

@@ -344,8 +344,8 @@
   "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": {
@@ -496,10 +496,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
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+    "dev_deg": {
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+     "p90": 24.04
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+    "samples": 4013,
+    "accepted": 3714,
+    "wrist_pos_err_mm_median": 113.5,
+    "per_camera": {
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+      "offset_deg": 30.49,
+      "tier": "primary",
+      "dev_deg_median": 5.75,
+      "wrist_pos_err_mm_median": 113.5
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+     "no_body_fit": 0
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+    "observed_fraction_of_valid": 0.9472,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.99
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+    "hand_marker_to_mesh_mm": {
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+      "p90": 11.3
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+  "generated_by": "scripts/register_hands_smplx.py",
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+  "wrist_flip_suspect": []
+ },
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   "release_path": "actions/locomanipulation/LM36/session_022",
   "family": "locomanipulation",
   "primitive": "LM36",
   "source_session": "20261014/LM36/20261014_041934_session61"
+ },
+ "task": {
+  "primitive": "LM36",
+  "instruction": "Carry the open tray of loose items across the room, back and forth, trying not to let anything fall out."
  }
 }