Release update 2026-11-05: new sessions, instructions, annotations (part 297)

actions/locomanipulation/LM32/session_024/motions/smplx.npz

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actions/locomanipulation/LM32/session_025/annotations.json

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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": "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.",
+ "segments": [
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+   "video": "left_eye",
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+ ],
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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_025/cameras/gsi_online_calibration.json

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actions/locomanipulation/LM32/session_025/cameras/slam.npz

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actions/locomanipulation/LM32/session_025/meta.json

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    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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   "family": "locomanipulation",
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  }
 }

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actions/locomanipulation/LM32/session_026/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": "LM32",
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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_026/cameras/gsi_online_calibration.json

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actions/locomanipulation/LM32/session_026/cameras/slam.npz

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actions/locomanipulation/LM32/session_026/meta.json

@@ -378,8 +378,8 @@
   "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": {
@@ -554,10 +554,124 @@
   },
   "applied": 1
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     0.0285,
+     0.2527,
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+    ],
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+     "p90": 38.73
+    },
+    "samples": 3778,
+    "accepted": 3136,
+    "wrist_pos_err_mm_median": 27.4,
+    "per_camera": {
+     "head": {
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+      "accepted": 3136,
+      "gate_deg": 30.0,
+      "offset_deg": 18.83,
+      "tier": "primary",
+      "dev_deg_median": 20.68,
+      "wrist_pos_err_mm_median": 27.4
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+     "interpolated": 1584,
+     "mean_hand": 1157,
+     "no_body_fit": 29
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+    "observed_fraction_of_valid": 0.9246,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 1.84
+    },
+    "hand_marker_to_mesh_mm": {
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+      "median": 7.3,
+      "p90": 8.9
+     },
+     "registered": {
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+      "p90": 6.6
+     }
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+     0.2047,
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+     "p90": 38.87
+    },
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+    "accepted": 3204,
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+    "per_camera": {
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+      "offset_deg": 18.39,
+      "tier": "primary",
+      "dev_deg_median": 12.33,
+      "wrist_pos_err_mm_median": 30.2
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+      "p90": 14.8
+     }
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+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:34:21.490535+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_026",
   "family": "locomanipulation",
   "primitive": "LM32",
   "source_session": "20261019/LM32/20261019_093145_session64"
+ },
+ "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."
  }
 }

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