Release update 2026-11-05: new sessions, instructions, annotations (part 16)

.gitattributes

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   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
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-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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+   "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",
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+  }
+ ]
+}

actions/static_manipulation/SM15/session_003/cameras/gsi_online_calibration.json

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actions/static_manipulation/SM15/session_003/cameras/slam.npz

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actions/static_manipulation/SM15/session_003/meta.json

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   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
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    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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@@ -525,10 +525,124 @@
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  "release": {
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   "family": "static_manipulation",
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  }
 }

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actions/static_manipulation/SM15/session_004/annotations.json

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+  },
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+  }
+ ]
+}

actions/static_manipulation/SM15/session_004/cameras/gsi_online_calibration.json

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actions/static_manipulation/SM15/session_004/cameras/slam.npz

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+oid sha256:6c682fff43404c89d10c46c22750511a5a2b0e2dc64aaa1d09c1a37a26c18d53
+size 830897

actions/static_manipulation/SM15/session_004/meta.json

@@ -348,8 +348,8 @@
   "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": {
@@ -700,12 +700,126 @@
   },
   "applied": 10
  },
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+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
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+     0.0869,
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+     "median": 26.52,
+     "p90": 133.34
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+    "samples": 4291,
+    "accepted": 2460,
+    "wrist_pos_err_mm_median": 32.3,
+    "per_camera": {
+     "head": {
+      "samples": 4291,
+      "accepted": 2460,
+      "gate_deg": 30.0,
+      "offset_deg": 5.68,
+      "tier": "primary",
+      "dev_deg_median": 26.52,
+      "wrist_pos_err_mm_median": 32.3
+     }
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+    "frames_by_state": {
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+     "interpolated": 2352,
+     "mean_hand": 5312,
+     "no_body_fit": 0
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+    "observed_fraction": 0.6971,
+    "observed_fraction_of_valid": 0.6971,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 23.58,
+     "smplx": NaN
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": NaN,
+      "p90": NaN
+     },
+     "registered": {
+      "median": NaN,
+      "p90": NaN
+     }
+    }
+   },
+   "right": {
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+    "offset_rotvec": [
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+     0.0132
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+     "p90": 56.39
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+    "samples": 4250,
+    "accepted": 2750,
+    "wrist_pos_err_mm_median": 23.4,
+    "per_camera": {
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+      "accepted": 2750,
+      "gate_deg": 30.0,
+      "offset_deg": 15.2,
+      "tier": "primary",
+      "dev_deg_median": 22.94,
+      "wrist_pos_err_mm_median": 23.4
+     }
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+    "observed_fraction_of_valid": 0.7615,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 3.04
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 9.4
+     },
+     "registered": {
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+      "p90": 7.4
+     }
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+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T19:52:10.947235+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/static_manipulation/SM15/session_004",
   "family": "static_manipulation",
   "primitive": "SM15",
   "source_session": "20261020/SM15/20261020_115638_session78"
  },
+ "task": {
+  "primitive": "SM15",
+  "instruction": "Open the lid of the box on the shelf in front of you, then close it again. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
+ },
  "objects": [
   {
    "name": "Table2",