Release update 2026-11-05: new sessions, instructions, annotations (part 300)

actions/locomanipulation/LM32/session_030/motions/smplx.npz

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actions/locomanipulation/LM32/session_031/annotations.json

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+ "primitive": "LM32",
+ "instruction": "Carry the lidded box and, while you are still walking, open the lid, then close it again. Repeat as you walk back and forth. Do not stop to do it.",
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+   "instruction": "Carry the lidded box and, while you are still walking, open the lid, then close it again. Repeat as you walk back and forth. Do not stop to do it."
+  }
+ ]
+}

actions/locomanipulation/LM32/session_031/cameras/gsi_online_calibration.json

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actions/locomanipulation/LM32/session_031/cameras/slam.npz

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actions/locomanipulation/LM32/session_031/meta.json

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+ }
 }

actions/locomanipulation/LM32/session_031/motions/hands_mano.npz

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actions/locomanipulation/LM32/session_032/annotations.json

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+  }
+ ]
+}

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actions/locomanipulation/LM32/session_032/cameras/slam.npz

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actions/locomanipulation/LM32/session_032/meta.json

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   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
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+   "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": {
@@ -506,18 +506,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 13.82,
+    "offset_rotvec": [
+     0.0614,
+     -0.1568,
+     0.1728
+    ],
+    "dev_deg": {
+     "median": 11.14,
+     "p90": 31.26
+    },
+    "samples": 3490,
+    "accepted": 3128,
+    "wrist_pos_err_mm_median": 28.5,
+    "per_camera": {
+     "head": {
+      "samples": 3490,
+      "accepted": 3128,
+      "gate_deg": 30.0,
+      "offset_deg": 13.82,
+      "tier": "primary",
+      "dev_deg_median": 11.14,
+      "wrist_pos_err_mm_median": 28.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12642,
+     "interpolated": 2042,
+     "mean_hand": 673,
+     "no_body_fit": 7
+    },
+    "observed_fraction": 0.9557,
+    "observed_fraction_of_valid": 0.9562,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.0,
+     "smplx": 0.95
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.0,
+      "p90": 10.1
+     },
+     "registered": {
+      "median": 7.6,
+      "p90": 8.3
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 19.8,
+    "offset_rotvec": [
+     0.2714,
+     -0.1849,
+     0.1076
+    ],
+    "dev_deg": {
+     "median": 12.1,
+     "p90": 26.71
+    },
+    "samples": 3570,
+    "accepted": 3283,
+    "wrist_pos_err_mm_median": 50.9,
+    "per_camera": {
+     "head": {
+      "samples": 3570,
+      "accepted": 3283,
+      "gate_deg": 30.0,
+      "offset_deg": 19.8,
+      "tier": "primary",
+      "dev_deg_median": 12.1,
+      "wrist_pos_err_mm_median": 50.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13242,
+     "interpolated": 1006,
+     "mean_hand": 1109,
+     "no_body_fit": 7
+    },
+    "observed_fraction": 0.9274,
+    "observed_fraction_of_valid": 0.9278,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 20.85,
+     "smplx": 1.92
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 4.4,
+      "p90": 6.6
+     },
+     "registered": {
+      "median": 4.7,
+      "p90": 7.6
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T20:11:36.375968+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/LM32/session_032",
   "family": "locomanipulation",
   "primitive": "LM32",
   "source_session": "20261021/LM32/20261021_075640_session46"
  },
- "objects": [
-  {
-   "name": "BigBox2",
-   "object_type": "BigBox",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
-  }
- ]
+ "task": {
+  "primitive": "LM32",
+  "instruction": "Carry the lidded box and, while you are still walking, open the lid, then close it again. Repeat as you walk back and forth. Do not stop to do it."
+ }
 }

actions/locomanipulation/LM32/session_032/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d4afe0385444bdf002d9931dddcb8022d46bee68098b6605e340b3c5e1561c0
+size 4780249