Release update 2026-11-05: new sessions, instructions, annotations (part 36)

actions/locomanipulation/LM15/session_041/cameras/slam.npz

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actions/locomanipulation/LM15/session_041/meta.json

@@ -360,8 +360,8 @@
   "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": {
@@ -502,12 +502,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 17.57,
+    "offset_rotvec": [
+     0.128,
+     0.2762,
+     0.0375
+    ],
+    "dev_deg": {
+     "median": 10.64,
+     "p90": 22.95
+    },
+    "samples": 2495,
+    "accepted": 2353,
+    "wrist_pos_err_mm_median": 31.9,
+    "per_camera": {
+     "head": {
+      "samples": 2495,
+      "accepted": 2353,
+      "gate_deg": 30.0,
+      "offset_deg": 17.57,
+      "tier": "primary",
+      "dev_deg_median": 10.64,
+      "wrist_pos_err_mm_median": 31.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9484,
+     "interpolated": 1660,
+     "mean_hand": 140,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9876,
+    "observed_fraction_of_valid": 0.9876,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 18.8,
+     "smplx": 1.38
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.2,
+      "p90": 10.4
+     },
+     "registered": {
+      "median": 6.5,
+      "p90": 8.2
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 32.58,
+    "offset_rotvec": [
+     0.5321,
+     -0.1937,
+     0.0518
+    ],
+    "dev_deg": {
+     "median": 5.74,
+     "p90": 14.82
+    },
+    "samples": 2545,
+    "accepted": 2472,
+    "wrist_pos_err_mm_median": 39.7,
+    "per_camera": {
+     "head": {
+      "samples": 2545,
+      "accepted": 2472,
+      "gate_deg": 30.0,
+      "offset_deg": 32.58,
+      "tier": "primary",
+      "dev_deg_median": 5.74,
+      "wrist_pos_err_mm_median": 39.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9992,
+     "interpolated": 1268,
+     "mean_hand": 24,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9979,
+    "observed_fraction_of_valid": 0.9979,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 32.14,
+     "smplx": 0.87
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.3,
+      "p90": 20.7
+     },
+     "registered": {
+      "median": 9.4,
+      "p90": 18.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:53:08.439916+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/LM15/session_041",
   "family": "locomanipulation",
   "primitive": "LM15",
   "source_session": "20261015/LM15/20261015_012107_session9"
  },
+ "task": {
+  "primitive": "LM15",
+  "instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room."
+ },
  "objects": [
   {
    "name": "BigBox",

actions/locomanipulation/LM15/session_041/motions/hands_mano.npz

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actions/locomanipulation/LM15/session_041/motions/smplx.npz

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actions/locomanipulation/LM15/session_042/annotations.json

@@ -0,0 +1,28 @@
+{
+ "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": "LM15",
+ "instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 126.866667,
+   "video": "left_eye",
+   "video_t_start": 0.03958889773207397
+  }
+ ],
+ "episodes": [
+  {
+   "id": "8ff4ae3c-ed97-48ef-bbc7-2807fcaea666",
+   "segment": "segment1",
+   "action": "LM15",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 124.298,
+   "t_start": 0.0396,
+   "t_end": 124.3376,
+   "instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room."
+  }
+ ]
+}

actions/locomanipulation/LM15/session_042/meta.json

@@ -527,6 +527,10 @@
   "primitive": "LM15",
   "source_session": "20261015/LM15/20261015_074732_session15"
  },
+ "task": {
+  "primitive": "LM15",
+  "instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room."
+ },
  "objects": [
   {
    "name": "BigBox",