Release update 2026-11-05: new sessions, instructions, annotations (part 310)

actions/locomanipulation/LM33/session_008/motions/hands_mano.npz

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actions/locomanipulation/LM33/session_009/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": "LM33",
+ "instruction": "Carry the open container and, while walking, reach in with one hand and take an item out, then put it back. Repeat as you walk. Do not stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 133.966667,
+   "video": "left_eye",
+   "video_t_start": 0.0390021370430107
+  }
+ ],
+ "episodes": [
+  {
+   "id": "177d3888-9a92-4bc5-9599-bbb291b5bd8d",
+   "segment": "segment1",
+   "action": "LM33",
+   "quality": "valid",
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+   "end_s": 129.585,
+   "t_start": 0.039,
+   "t_end": 129.624,
+   "instruction": "Carry the open container and, while walking, reach in with one hand and take an item out, then put it back. Repeat as you walk. Do not stop."
+  }
+ ]
+}

actions/locomanipulation/LM33/session_009/cameras/slam.npz

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actions/locomanipulation/LM33/session_009/meta.json

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   "family": "locomanipulation",
   "primitive": "LM33",
   "source_session": "20260922/LM33/20260922_055445_session81"
+ },
+ "task": {
+  "primitive": "LM33",
+  "instruction": "Carry the open container and, while walking, reach in with one hand and take an item out, then put it back. Repeat as you walk. Do not stop."
  }
 }

actions/locomanipulation/LM33/session_009/motions/hands_mano.npz

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actions/locomanipulation/LM33/session_010/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": "LM33",
+ "instruction": "Carry the open container and, while walking, reach in with one hand and take an item out, then put it back. Repeat as you walk. Do not stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 123.966656,
+   "video": "left_eye",
+   "video_t_start": 0.038874425062771945
+  }
+ ],
+ "episodes": [
+  {
+   "id": "495b3c53-cdbe-4ecd-88bc-f5257bfffcdc",
+   "segment": "segment1",
+   "action": "LM33",
+   "quality": "valid",
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+   "end_s": 118.938,
+   "t_start": 0.0389,
+   "t_end": 118.9769,
+   "instruction": "Carry the open container and, while walking, reach in with one hand and take an item out, then put it back. Repeat as you walk. Do not stop."
+  }
+ ]
+}

actions/locomanipulation/LM33/session_010/cameras/slam.npz

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actions/locomanipulation/LM33/session_010/meta.json

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   "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": {
@@ -525,10 +525,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.7584774344930554
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 30.95,
+    "offset_rotvec": [
+     -0.0613,
+     0.5364,
+     0.016
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+    "dev_deg": {
+     "median": 3.41,
+     "p90": 6.26
+    },
+    "samples": 3689,
+    "accepted": 3689,
+    "wrist_pos_err_mm_median": 33.8,
+    "per_camera": {
+     "head": {
+      "samples": 3689,
+      "accepted": 3689,
+      "gate_deg": 30.0,
+      "offset_deg": 30.95,
+      "tier": "primary",
+      "dev_deg_median": 3.41,
+      "wrist_pos_err_mm_median": 33.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14756,
+     "interpolated": 0,
+     "mean_hand": 128,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9914,
+    "observed_fraction_of_valid": 0.9914,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 31.16,
+     "smplx": 0.48
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.9,
+      "p90": 16.7
+     },
+     "registered": {
+      "median": 11.0,
+      "p90": 16.8
+     }
+    }
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+   "right": {
+    "offset_deg": 21.88,
+    "offset_rotvec": [
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+     -0.3277,
+     0.1959
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+    "dev_deg": {
+     "median": 11.4,
+     "p90": 17.53
+    },
+    "samples": 3633,
+    "accepted": 3596,
+    "wrist_pos_err_mm_median": 83.5,
+    "per_camera": {
+     "head": {
+      "samples": 3633,
+      "accepted": 3596,
+      "gate_deg": 30.0,
+      "offset_deg": 21.88,
+      "tier": "primary",
+      "dev_deg_median": 11.4,
+      "wrist_pos_err_mm_median": 83.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14398,
+     "interpolated": 214,
+     "mean_hand": 272,
+     "no_body_fit": 0
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+    "observed_fraction": 0.9817,
+    "observed_fraction_of_valid": 0.9817,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 22.7,
+     "smplx": 2.07
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 14.3,
+      "p90": 15.7
+     },
+     "registered": {
+      "median": 14.2,
+      "p90": 15.0
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:39:26.730861+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/LM33/session_010",
   "family": "locomanipulation",
   "primitive": "LM33",
   "source_session": "20260923/LM33/20260923_030510_session225"
+ },
+ "task": {
+  "primitive": "LM33",
+  "instruction": "Carry the open container and, while walking, reach in with one hand and take an item out, then put it back. Repeat as you walk. Do not stop."
  }
 }

actions/locomanipulation/LM33/session_010/motions/hands_mano.npz

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