Release update 2026-11-05: new sessions, instructions, annotations (part 29)

actions/locomanipulation/LM15/session_027/meta.json

@@ -324,8 +324,8 @@
   "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",
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@@ -515,10 +515,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.5473788985575851
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+    "accepted": 2265,
+    "wrist_pos_err_mm_median": 62.0,
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+      "gate_deg": 30.0,
+      "offset_deg": 33.03,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 62.0
+     }
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+     "interpolated": 2856,
+     "mean_hand": 2868,
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+     "smplx": 1.0
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+    "hand_marker_to_mesh_mm": {
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+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 270.7
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+     "mean_hand": 288,
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+    "observed_fraction_of_valid": 0.9807,
+    "palm_axis_vs_markers_deg": {
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+     },
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+      "p90": 21.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:33:25.943551+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/LM15/session_027",
   "family": "locomanipulation",
   "primitive": "LM15",
   "source_session": "20260925/LM15/20260925_100506_session126"
+ },
+ "task": {
+  "primitive": "LM15",
+  "instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room."
  }
 }

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actions/locomanipulation/LM15/session_028/annotations.json

@@ -0,0 +1,28 @@
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+ "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": "LM15",
+ "instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room.",
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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."
+  }
+ ]
+}

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actions/locomanipulation/LM15/session_028/meta.json

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   "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",
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@@ -508,10 +508,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.1636542926419147
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+     -0.0262
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+    "dev_deg": {
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+     "p90": 47.45
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+    "samples": 2811,
+    "accepted": 1858,
+    "wrist_pos_err_mm_median": 108.1,
+    "per_camera": {
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+      "accepted": 1858,
+      "gate_deg": 30.0,
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+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 108.1
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   "family": "locomanipulation",
   "primitive": "LM15",
   "source_session": "20261008/LM15/20261008_075614_session110"
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+  "primitive": "LM15",
+  "instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room."
  }
 }

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+ ]
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   "family": "locomanipulation",
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   "source_session": "20261008/LM15/20261008_075813_session111"
+ },
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+  "primitive": "LM15",
+  "instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room."
  }
 }

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