Release update 2026-11-05: new sessions, instructions, annotations (part 176)

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actions/locomanipulation/LM23/session_005/annotations.json

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actions/locomanipulation/LM23/session_009/cameras/slam.npz

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actions/locomanipulation/LM23/session_009/meta.json

@@ -329,8 +329,8 @@
   "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": {
@@ -511,10 +511,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.1727263025269794
  },
+ "hands_registration": {
+  "cameras": {},
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+    "offset_rotvec": [
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+     0.0671,
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+    "dev_deg": {
+     "median": 5.56,
+     "p90": 11.24
+    },
+    "samples": 3210,
+    "accepted": 3161,
+    "wrist_pos_err_mm_median": 15.6,
+    "per_camera": {
+     "head": {
+      "samples": 3210,
+      "accepted": 3161,
+      "gate_deg": 30.0,
+      "offset_deg": 10.58,
+      "tier": "primary",
+      "dev_deg_median": 5.56,
+      "wrist_pos_err_mm_median": 15.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12654,
+     "interpolated": 254,
+     "mean_hand": 176,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9865,
+    "observed_fraction_of_valid": 0.9865,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 7.75,
+     "smplx": 0.52
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.1,
+      "p90": 14.7
+     },
+     "registered": {
+      "median": 9.8,
+      "p90": 12.8
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 18.9,
+    "offset_rotvec": [
+     0.1742,
+     -0.1712,
+     0.2218
+    ],
+    "dev_deg": {
+     "median": 7.28,
+     "p90": 16.15
+    },
+    "samples": 3195,
+    "accepted": 3115,
+    "wrist_pos_err_mm_median": 33.6,
+    "per_camera": {
+     "head": {
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+      "accepted": 3115,
+      "gate_deg": 30.0,
+      "offset_deg": 18.9,
+      "tier": "primary",
+      "dev_deg_median": 7.28,
+      "wrist_pos_err_mm_median": 33.6
+     }
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+     "interpolated": 106,
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+     "no_body_fit": 0
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+      "p90": 30.1
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+      "p90": 29.2
+     }
+    }
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+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:52:22.353550+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/LM23/session_009",
   "family": "locomanipulation",
   "primitive": "LM23",
   "source_session": "20260920/LM23/20260920_061729_session52"
+ },
+ "task": {
+  "primitive": "LM23",
+  "instruction": "Carry the box continuously around the taped circuit without setting it down or stopping, until the operator says stop."
  }
 }

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