Release update 2026-11-05: new sessions, instructions, annotations (part 381)

actions/locomanipulation/LM37/session_004/meta.json

@@ -377,8 +377,8 @@
   "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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+     "p90": 168.47
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+    "samples": 3764,
+    "accepted": 2216,
+    "wrist_pos_err_mm_median": 41.3,
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+      "accepted": 2216,
+      "gate_deg": 30.0,
+      "offset_deg": 8.35,
+      "tier": "primary",
+      "dev_deg_median": 13.16,
+      "wrist_pos_err_mm_median": 41.3
+     }
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+     "interpolated": 402,
+     "mean_hand": 6662,
+     "no_body_fit": 6
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+    "hand_marker_to_mesh_mm": {
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+     "registered": {
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+      "p90": 20.9
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+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:41:36.959180+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/LM37/session_004",
   "family": "locomanipulation",
   "primitive": "LM37",
   "source_session": "20261017/LM37/20261017_110643_session15"
  },
+ "task": {
+  "primitive": "LM37",
+  "instruction": "Carry the handheld device and, while walking, point it at the labels on the shelves and press the button as if scanning them."
+ },
  "objects": [
   {
    "name": "LittleBox1",

actions/locomanipulation/LM37/session_004/motions/hands_mano.npz

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actions/locomanipulation/LM37/session_004/motions/smplx.npz

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actions/locomanipulation/LM37/session_005/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": "LM37",
+ "instruction": "Carry the handheld device and, while walking, point it at the labels on the shelves and press the button as if scanning them.",
+ "segments": [
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+   "video": "left_eye",
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+   "instruction": "Carry the handheld device and, while walking, point it at the labels on the shelves and press the button as if scanning them."
+  }
+ ]
+}

actions/locomanipulation/LM37/session_005/cameras/gsi_online_calibration.json

@@ -0,0 +1,256 @@
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actions/locomanipulation/LM37/session_005/cameras/slam.npz

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actions/locomanipulation/LM37/session_005/meta.json

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   "hands": {
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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",
    "hand_marker_offsets_m": {
     "left": {
@@ -569,12 +569,126 @@
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   "family": "locomanipulation",
   "primitive": "LM37",
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  },
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+  "primitive": "LM37",
+  "instruction": "Carry the handheld device and, while walking, point it at the labels on the shelves and press the button as if scanning them."
+ },
  "objects": [
   {
    "name": "LittleBox1",

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