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Release update 2026-11-05: new sessions, instructions, annotations (part 18)

Browse files
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actions/locomanipulation/LM15/session_005/meta.json CHANGED
@@ -339,8 +339,8 @@
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  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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  "hands": {
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- "observed": false,
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- "hand_pose": "flat (zeros, flat_hand_mean=True)",
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  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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  "hand_marker_offsets_m": {
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  "left": {
@@ -529,10 +529,124 @@
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  "generated_by": "scripts/correct_processed_rig.py",
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  "remaining_gyro_frame_deg": 0.8837277002220345
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  },
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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  "release": {
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  "release_path": "actions/locomanipulation/LM15/session_005",
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  "family": "locomanipulation",
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  "primitive": "LM15",
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  "source_session": "20260910/LM15/20260910_074937_session136"
 
 
 
 
537
  }
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  }
 
339
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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  "hands": {
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+ "observed": true,
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+ "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
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  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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  "hand_marker_offsets_m": {
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  "left": {
 
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  "generated_by": "scripts/correct_processed_rig.py",
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  "remaining_gyro_frame_deg": 0.8837277002220345
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  },
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+ "accepted": 3218,
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+ "gsi": 9.48,
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+ "smplx": 0.89
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+ "median": 9.2,
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+ "p90": 10.0
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+ },
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+ "registered": {
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+ "median": 9.0,
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+ "p90": 10.1
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+ }
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+ }
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+ -0.0989
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+ "median": 8.85,
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+ "p90": 15.13
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+ "samples": 3204,
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+ "accepted": 3164,
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+ "accepted": 3164,
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+ },
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+ "hand_marker_to_mesh_mm": {
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+ "flat": {
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+ "median": 6.5,
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+ "p90": 8.2
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+ },
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+ "registered": {
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+ "median": 5.8,
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+ "p90": 7.8
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+ }
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+ }
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+ }
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+ },
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+ "max_dev_deg": 30.0,
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+ "max_gap_s": 1.0,
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+ "cameras_used": [
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+ "head"
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+ ],
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+ "generated_at_utc": "2026-11-03T16:06:54.830467+00:00",
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+ "generated_by": "scripts/register_hands_smplx.py",
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+ "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",
640
+ "wrist_flip_suspect": []
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  "release": {
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  "release_path": "actions/locomanipulation/LM15/session_005",
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  "family": "locomanipulation",
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  "primitive": "LM15",
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  "source_session": "20260910/LM15/20260910_074937_session136"
647
+ },
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+ "task": {
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+ "primitive": "LM15",
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+ "instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room."
651
  }
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  }
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