Release update 2026-11-05: new sessions, instructions, annotations (part 187)

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actions/locomanipulation/LM24/session_001/annotations.json

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actions/locomanipulation/LM24/session_001/cameras/slam.npz

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@@ -327,8 +327,8 @@
   "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": {
@@ -509,10 +509,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.2971496943027194
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 13.43,
+    "offset_rotvec": [
+     -0.1513,
+     0.1737,
+     -0.043
+    ],
+    "dev_deg": {
+     "median": 10.79,
+     "p90": 25.16
+    },
+    "samples": 3211,
+    "accepted": 3047,
+    "wrist_pos_err_mm_median": 37.1,
+    "per_camera": {
+     "head": {
+      "samples": 3211,
+      "accepted": 3047,
+      "gate_deg": 30.0,
+      "offset_deg": 13.43,
+      "tier": "primary",
+      "dev_deg_median": 10.79,
+      "wrist_pos_err_mm_median": 37.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12226,
+     "interpolated": 578,
+     "mean_hand": 280,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9786,
+    "observed_fraction_of_valid": 0.9786,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 16.86,
+     "smplx": 1.68
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.9,
+      "p90": 12.7
+     },
+     "registered": {
+      "median": 9.2,
+      "p90": 10.1
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 5.34,
+    "offset_rotvec": [
+     0.0417,
+     -0.0239,
+     -0.0799
+    ],
+    "dev_deg": {
+     "median": 8.45,
+     "p90": 34.67
+    },
+    "samples": 3159,
+    "accepted": 2771,
+    "wrist_pos_err_mm_median": 34.0,
+    "per_camera": {
+     "head": {
+      "samples": 3159,
+      "accepted": 2771,
+      "gate_deg": 30.0,
+      "offset_deg": 5.34,
+      "tier": "primary",
+      "dev_deg_median": 8.45,
+      "wrist_pos_err_mm_median": 34.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11100,
+     "interpolated": 884,
+     "mean_hand": 1100,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9159,
+    "observed_fraction_of_valid": 0.9159,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 7.19,
+     "smplx": 0.88
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 11.7,
+      "p90": 14.4
+     },
+     "registered": {
+      "median": 12.1,
+      "p90": 13.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T23:07:10.853191+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/LM24/session_002",
   "family": "locomanipulation",
   "primitive": "LM24",
   "source_session": "20260916/LM24/20260916_120429_session193"
+ },
+ "task": {
+  "primitive": "LM24",
+  "instruction": "Carry the box through the gap between the panels without touching either side, then set it down and bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
  }
 }

actions/locomanipulation/LM24/session_002/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e19721d981fdda797abc4210229ae3d865760b9e3fffb42706ca4d0174f2dd02
+size 4288798