Release update 2026-11-05: new sessions, instructions, annotations (part 87)

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actions/locomanipulation/LM18/session_021/annotations.json

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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": "LM18",
+ "instruction": "Hold the object against your hip on the side the operator calls, and carry it back and forth across the room.",
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+   "instruction": "Hold the object against your hip on the side the operator calls, and carry it back and forth across the room."
+  }
+ ]
+}

actions/locomanipulation/LM18/session_021/cameras/gsi_online_calibration.json

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actions/locomanipulation/LM18/session_021/cameras/slam.npz

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   "family": "locomanipulation",
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  }
 }

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actions/locomanipulation/LM18/session_022/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5091983fbd4dfcd529780ac2170008dcca1247dc214084f90346e7f9f4d2b38
+size 743016

actions/locomanipulation/LM18/session_022/meta.json

@@ -331,8 +331,8 @@
   "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": {
@@ -521,10 +521,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.3061792849881695
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
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+     -0.0123,
+     -0.4839
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+    "dev_deg": {
+     "median": 11.3,
+     "p90": 22.55
+    },
+    "samples": 3695,
+    "accepted": 3547,
+    "wrist_pos_err_mm_median": 61.3,
+    "per_camera": {
+     "head": {
+      "samples": 3695,
+      "accepted": 3547,
+      "gate_deg": 30.0,
+      "offset_deg": 38.92,
+      "tier": "primary",
+      "dev_deg_median": 11.3,
+      "wrist_pos_err_mm_median": 61.3
+     }
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+     "interpolated": 630,
+     "mean_hand": 598,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9614,
+    "observed_fraction_of_valid": 0.9614,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 18.56,
+     "smplx": 0.68
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.8,
+      "p90": 10.5
+     },
+     "registered": {
+      "median": 7.3,
+      "p90": 10.8
+     }
+    }
+   },
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+    "offset_rotvec": [
+     -0.153,
+     -0.2349,
+     0.1337
+    ],
+    "dev_deg": {
+     "median": 10.03,
+     "p90": 25.55
+    },
+    "samples": 2890,
+    "accepted": 2696,
+    "wrist_pos_err_mm_median": 68.9,
+    "per_camera": {
+     "head": {
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+      "accepted": 2696,
+      "gate_deg": 30.0,
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+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 68.9
+     }
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+     "no_body_fit": 0
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+    "observed_fraction_of_valid": 0.9992,
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+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 12.8
+     },
+     "registered": {
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+      "p90": 11.9
+     }
+    }
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+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:40:22.342094+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/LM18/session_022",
   "family": "locomanipulation",
   "primitive": "LM18",
   "source_session": "20260923/LM18/20260923_055930_session37"
+ },
+ "task": {
+  "primitive": "LM18",
+  "instruction": "Hold the object against your hip on the side the operator calls, and carry it back and forth across the room."
  }
 }