Release update 2026-11-05: new sessions, instructions, annotations (part 322)

.gitattributes

@@ -45126,3 +45126,4 @@ actions/locomanipulation/LM32/session_039/raw/sensors/robowrist_imu_left.db filt
 actions/locomanipulation/LM32/session_039/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM32/session_039/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM32/session_039/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM33/session_033/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text

actions/locomanipulation/LM33/session_032/cameras/slam.npz

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actions/locomanipulation/LM33/session_032/meta.json

@@ -263,44 +263,44 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
  "canonical": {
-  "generated_at_utc": "2026-10-27T06:43:12.204999+00:00",
+  "generated_at_utc": "2026-10-28T23:22:24.646980+00:00",
   "generated_by": "scripts/canonicalise_dataset.py",
   "frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
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-    1.167712e-05,
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@@ -312,20 +312,20 @@
   ],
   "block": "20261026-morning",
   "block_assignment": "trc",
-  "tilt_removed_deg": 0.6736075582400546,
+  "tilt_removed_deg": 0.6697930607742368,
   "plane_status": "ok",
   "floor": {
-   "sole_marker_p1_mm": 29.2,
+   "sole_marker_p1_mm": 29.5,
    "headtop_p95_mm": 1654.0
   },
   "gravity_check": {
    "static_samples": 1399,
    "g_world_mean_m_s2": [
-    0.0011,
-    0.0122,
+    0.001,
+    0.0179,
     9.7434
    ],
-   "tilt_from_z_deg": 0.072,
+   "tilt_from_z_deg": 0.105,
    "tilt_from_z_deg_before_levelling": 0.679,
    "magnitude_m_s2": 9.7435
   },
@@ -344,7 +344,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-27T20:54:34.689092+00:00",
+  "generated_at_utc": "2026-10-29T05:11:55.650210+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -353,8 +353,8 @@
   "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": {
@@ -397,8 +397,8 @@
   "valid_fraction": 0.9996,
   "qc": {
    "lowest_vertex_mm": {
-    "median": 16.4,
-    "p5": 10.3
+    "median": 16.3,
+    "p5": 10.7
    },
    "frames_checked": 633,
    "stature_mm": 1614.2
@@ -413,19 +413,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 0.0,
+    "Q_deg": 39.55,
     "Q_rotvec": [
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-     0.0
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+     0.25229
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     "in_out_sign": 1,
-    "wrist_bend_deg_median": 39.5,
-    "opposite_sign_bend_deg": 160.2,
+    "wrist_bend_deg_median": 84.2,
+    "opposite_sign_bend_deg": 123.2,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 5.5,
     "hand_vs_marker_frame_deg": {
-     "before": 5.5,
+     "before": 38.93,
      "after": 5.5
     },
     "markers_on_wrist": [
@@ -433,12 +433,12 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 0.58,
+     "twist_moved_deg": 74.35,
      "wrist_twist_deg_after": {
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+      "median": 0.58,
       "iqr": [
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-       21.0
+       -18.3,
+       21.6
       ]
      },
      "wrist_total_deg_median_after": 39.0,
@@ -452,19 +452,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 0.0,
+    "Q_deg": 56.68,
     "Q_rotvec": [
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+     0.96381,
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+     -0.08284
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     "in_out_sign": 1,
-    "wrist_bend_deg_median": 24.4,
-    "opposite_sign_bend_deg": 169.6,
+    "wrist_bend_deg_median": 64.2,
+    "opposite_sign_bend_deg": 128.8,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.73,
     "hand_vs_marker_frame_deg": {
-     "before": 2.73,
+     "before": 56.76,
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     "markers_on_wrist": [
@@ -472,9 +472,9 @@
      "RHandOut"
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     "forearm_twist": {
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      "wrist_twist_deg_after": {
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       "iqr": [
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@@ -490,7 +490,7 @@
     },
     "frames_used": 1500
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-   "generated_at_utc": "2026-10-28T06:50:44.178075+00:00",
+   "generated_at_utc": "2026-10-29T05:11:58.971053+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -552,10 +552,124 @@
   },
   "applied": 2
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+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
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+     "p90": 93.6
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+    "accepted": 907,
+    "wrist_pos_err_mm_median": 30.6,
+    "per_camera": {
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+      "accepted": 907,
+      "gate_deg": 30.0,
+      "offset_deg": 36.88,
+      "tier": "primary",
+      "dev_deg_median": 51.55,
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+     }
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+     "mean_hand": 13649,
+     "no_body_fit": 8
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+    "palm_axis_vs_markers_deg": {
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+     "smplx": 2.08
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+    "wrist_pos_err_mm_median": 47.5,
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+      "tier": "primary",
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+     "registered": {
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+    }
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+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:31:30.681506+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_032",
   "family": "locomanipulation",
   "primitive": "LM33",
   "source_session": "20261026/LM33/20261026_033239_session39"
+ },
+ "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."
  }
 }

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actions/locomanipulation/LM33/session_033/meta.json

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+ "session": "EgoMotionActions/20261028/LM33/20261028_103253_session117",
+ "session_id": "20261028_103253_session117",
+ "primitive": "LM33",
+ "batch": "20261028",
+ "participant": "xiaobo",
+ "participant_source": "manifest",
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