Release update 2026-11-05: new sessions, instructions, annotations (part 146)

actions/locomanipulation/LM21/session_022/motions/smplx.npz

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actions/locomanipulation/LM21/session_023/annotations.json

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+ "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": "LM21",
+ "instruction": "Carry the box straight from one end of the room to the other, set it down, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
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+  }
+ ]
+}

actions/locomanipulation/LM21/session_023/cameras/gsi_online_calibration.json

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actions/locomanipulation/LM21/session_023/cameras/slam.npz

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actions/locomanipulation/LM21/session_023/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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    "name": "BigBox",

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actions/locomanipulation/LM21/session_024/annotations.json

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+  }
+ ]
+}

actions/locomanipulation/LM21/session_024/cameras/gsi_online_calibration.json

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+   "video": "left_eye",
+   "video_t_start": 0.040119682362757106
+  }
+ ],
+ "episodes": [
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+   "id": "1e9b08ce-2bd5-4b72-8b15-9f580a521ff0",
+   "segment": "segment1",
+   "action": "LM21",
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+   "t_start": 1.5681,
+   "t_end": 118.9671,
+   "instruction": "Carry the box straight from one end of the room to the other, set it down, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}

actions/locomanipulation/LM21/session_026/cameras/gsi_online_calibration.json

@@ -0,0 +1,214 @@
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+   "usable": true
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+  "left_front": {
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+    "right_front",
+    "left_eye",
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+    "right_front",
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+    "left",
+    "right"
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+    -0.9
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+    "right_eye",
+    "left",
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+   "rotvec_deg": [
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+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
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+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
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+ "kind": "online_calibration",
+ "output_sha256": "514185b66f129c0f5f984213bb4606c0b2df43d5e55dbfabc3b3f96e65d5dae0",
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+  "left_front": 49.406,
+  "right": 44.894,
+  "right_eye": 45.6,
+  "right_front": 47.563
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+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
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+ "selection": {
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+ "version": 1
+}

actions/locomanipulation/LM21/session_026/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78721a31e623e663210cedbd7a94e5a8cb4d3802eaaacc97c67eb9987f6d53f4
+size 693929

actions/locomanipulation/LM21/session_026/meta.json

@@ -330,8 +330,8 @@
   "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": {
@@ -475,12 +475,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
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+    "dev_deg": {
+     "median": 9.09,
+     "p90": 20.79
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+    "samples": 3397,
+    "accepted": 3220,
+    "wrist_pos_err_mm_median": 28.3,
+    "per_camera": {
+     "head": {
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+      "accepted": 3220,
+      "gate_deg": 30.0,
+      "offset_deg": 16.39,
+      "tier": "primary",
+      "dev_deg_median": 9.09,
+      "wrist_pos_err_mm_median": 28.3
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+     "interpolated": 1140,
+     "mean_hand": 397,
+     "no_body_fit": 7
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+    "observed_fraction_of_valid": 0.9727,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 15.69,
+     "smplx": 0.84
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+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.8,
+      "p90": 7.1
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+     "registered": {
+      "median": 4.6,
+      "p90": 6.9
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+     "p90": 58.55
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+    "accepted": 607,
+    "wrist_pos_err_mm_median": 338.0,
+    "per_camera": {
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+      "accepted": 607,
+      "gate_deg": 30.0,
+      "offset_deg": 68.11,
+      "tier": "primary",
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+    "palm_axis_vs_markers_deg": {
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+      "p90": 16.9
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+     "registered": {
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+      "p90": 16.5
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+    }
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+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:34:43.672117+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/LM21/session_026",
   "family": "locomanipulation",
   "primitive": "LM21",
   "source_session": "20261019/LM21/20261019_083342_session47"
  },
+ "task": {
+  "primitive": "LM21",
+  "instruction": "Carry the box straight from one end of the room to the other, set it down, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+ },
  "objects": [
   {
    "name": "BigBox",