Release update 2026-11-05: new sessions, instructions, annotations (part 101)

actions/locomanipulation/LM18/session_043/motions/smplx.npz

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actions/locomanipulation/LM18/session_044/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": "LM18",
+ "instruction": "Hold the object against your hip on the side the operator calls, and carry it back and forth across the room.",
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+   "instruction": "Hold the object against your hip on the side the operator calls, and carry it back and forth across the room."
+  }
+ ]
+}

actions/locomanipulation/LM18/session_044/cameras/gsi_online_calibration.json

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actions/locomanipulation/LM18/session_044/cameras/slam.npz

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actions/locomanipulation/LM18/session_044/meta.json

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     "left": {
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    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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+ "task": {
+  "primitive": "LM18",
+  "instruction": "Hold the object against your hip on the side the operator calls, and carry it back and forth across the room."
+ }
 }

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+  "right": 41.627,
+  "right_eye": 38.672,
+  "right_front": 40.937
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+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
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+}

actions/locomanipulation/LM18/session_045/cameras/slam.npz

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+size 715048

actions/locomanipulation/LM18/session_045/meta.json

@@ -282,7 +282,7 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
  "canonical": {
-  "generated_at_utc": "2026-10-26T10:25:51.497841+00:00",
+  "generated_at_utc": "2026-11-03T09:16:57.971284+00:00",
   "generated_by": "scripts/canonicalise_dataset.py",
   "frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
   "R_canon_nokov": [
@@ -372,8 +372,8 @@
   "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": {
@@ -513,12 +513,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 74.9,
+    "offset_rotvec": [
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+     -0.3764,
+     0.4768
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+    "dev_deg": {
+     "median": 29.79,
+     "p90": 43.71
+    },
+    "samples": 2431,
+    "accepted": 1243,
+    "wrist_pos_err_mm_median": 364.5,
+    "per_camera": {
+     "head": {
+      "samples": 2431,
+      "accepted": 1243,
+      "gate_deg": 30.0,
+      "offset_deg": 74.9,
+      "tier": "primary",
+      "dev_deg_median": 29.79,
+      "wrist_pos_err_mm_median": 364.5
+     }
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+     "ace_sample": 5150,
+     "interpolated": 4186,
+     "mean_hand": 5629,
+     "no_body_fit": 7
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+    "observed_fraction": 0.6236,
+    "observed_fraction_of_valid": 0.6239,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 52.89,
+     "smplx": 0.94
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 14.2,
+      "p90": 15.9
+     },
+     "registered": {
+      "median": 13.7,
+      "p90": 16.5
+     }
+    }
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+   "right": {
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+    "offset_rotvec": [
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+     0.047,
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+     "median": 13.97,
+     "p90": 25.85
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+    "accepted": 2906,
+    "wrist_pos_err_mm_median": 85.2,
+    "per_camera": {
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+      "accepted": 2906,
+      "gate_deg": 30.0,
+      "offset_deg": 5.18,
+      "tier": "primary",
+      "dev_deg_median": 13.97,
+      "wrist_pos_err_mm_median": 85.2
+     }
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+    "observed_fraction": 0.9324,
+    "observed_fraction_of_valid": 0.9328,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.51,
+     "smplx": 0.41
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
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+      "p90": 16.9
+     },
+     "registered": {
+      "median": 9.9,
+      "p90": 16.1
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:42:41.430436+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/LM18/session_045",
   "family": "locomanipulation",
   "primitive": "LM18",
   "source_session": "20261023/LM18/20261023_091048_session40"
  },
+ "task": {
+  "primitive": "LM18",
+  "instruction": "Hold the object against your hip on the side the operator calls, and carry it back and forth across the room."
+ },
  "objects": [
   {
    "name": "LittleBox1",

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