Release update 2026-11-05: new sessions, instructions, annotations (part 51)

actions/locomanipulation/LM16/session_018/motions/smplx.npz

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actions/locomanipulation/LM16/session_019/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": "LM16",
+ "instruction": "Carry the loaded tray flat and level in both hands, walking back and forth across the room. Try not to let anything slide off.",
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+   "instruction": "Carry the loaded tray flat and level in both hands, walking back and forth across the room. Try not to let anything slide off."
+  }
+ ]
+}

actions/locomanipulation/LM16/session_019/cameras/gsi_online_calibration.json

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actions/locomanipulation/LM16/session_019/cameras/slam.npz

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actions/locomanipulation/LM16/session_019/meta.json

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  }
 }

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actions/locomanipulation/LM16/session_020/annotations.json

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+  }
+ ]
+}

actions/locomanipulation/LM16/session_020/cameras/gsi_online_calibration.json

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+ ],
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+  }
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actions/locomanipulation/LM16/session_025/cameras/gsi_online_calibration.json

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actions/locomanipulation/LM16/session_025/cameras/slam.npz

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+oid sha256:db5fae3badc83276e75f2b406ec99c20d0121e81cdc71d307d3938f5758d1d60
+size 706756

actions/locomanipulation/LM16/session_025/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": {
@@ -528,12 +528,126 @@
    "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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+     "p90": 27.76
+    },
+    "samples": 3613,
+    "accepted": 3299,
+    "wrist_pos_err_mm_median": 53.0,
+    "per_camera": {
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+      "accepted": 3299,
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+      "tier": "primary",
+      "dev_deg_median": 7.08,
+      "wrist_pos_err_mm_median": 53.0
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+     "interpolated": 318,
+     "mean_hand": 1340,
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+    "palm_axis_vs_markers_deg": {
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+     "smplx": 1.63
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+    "hand_marker_to_mesh_mm": {
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+      "p90": 9.1
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+  "cameras_used": [
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+  "generated_at_utc": "2026-11-03T22:09:16.163260+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/LM16/session_025",
   "family": "locomanipulation",
   "primitive": "LM16",
   "source_session": "20261013/LM16/20261013_021808_session33"
  },
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+  "primitive": "LM16",
+  "instruction": "Carry the loaded tray flat and level in both hands, walking back and forth across the room. Try not to let anything slide off."
+ },
  "objects": [
   {
    "name": "LittleBox1",