Release update 2026-11-05: new sessions, instructions, annotations (part 133)

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+ "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",
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+ "instruction": "Carry the box up the three steps, turn at the top, and carry it back down. Use the handrail only if you need it. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
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+  }
+ ]
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 }

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+ "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": "LM68",
+ "instruction": "Carry the box up the three steps, turn at the top, and carry it back down. Use the handrail only if you need it. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 118.966633,
+   "video": "left_eye",
+   "video_t_start": 0.038496491761484286
+  }
+ ],
+ "episodes": [
+  {
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+   "segment": "segment1",
+   "action": "LM68",
+   "quality": "valid",
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+   "end_s": 114.355,
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+   "t_end": 114.3935,
+   "instruction": "Carry the box up the three steps, turn at the top, and carry it back down. Use the handrail only if you need it. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}

actions/locomanipulation/LM68/session_005/cameras/gsi_online_calibration.json

@@ -0,0 +1,255 @@
+{
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+  "groups_used": 15,
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+ },
+ "cameras": {
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+    "right_front",
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+    4.06
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+    0.6867,
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+   "split_deg": 0.0385,
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+  "left_front": {
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+  },
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+   "against": [
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+    "left_eye",
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+   "usable": true
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+   "against": [
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+    "right_front",
+    "left_eye",
+    "left",
+    "right"
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+   "position_mm": [
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+    3.88
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+    "left_eye",
+    "right_eye",
+    "left",
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+    -0.1562,
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+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
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+  },
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+ "input_fingerprint": "d841d1d93e90b8fd",
+ "kind": "online_calibration",
+ "output_sha256": "f849792642408fa66d0b1e1bd6a1a651ae6c6de601f30992ece88dec501c5976",
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+  "right_front-right": 0.466,
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+  "left_front": 37.485,
+  "right": 36.536,
+  "right_eye": 29.54,
+  "right_front": 38.709
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
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+}

actions/locomanipulation/LM68/session_005/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:672838a5be13c609b20c0763b0e531847239f13eb96474373b675a7fceb1f963
+size 686358

actions/locomanipulation/LM68/session_005/meta.json

@@ -341,8 +341,8 @@
   "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": {
@@ -534,10 +534,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.5783667007362919
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 22.74,
+    "offset_rotvec": [
+     0.3917,
+     -0.0608,
+     -0.0187
+    ],
+    "dev_deg": {
+     "median": 17.71,
+     "p90": 35.74
+    },
+    "samples": 3382,
+    "accepted": 2901,
+    "wrist_pos_err_mm_median": 27.3,
+    "per_camera": {
+     "head": {
+      "samples": 3382,
+      "accepted": 2901,
+      "gate_deg": 30.0,
+      "offset_deg": 22.74,
+      "tier": "primary",
+      "dev_deg_median": 17.71,
+      "wrist_pos_err_mm_median": 27.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11721,
+     "interpolated": 1397,
+     "mean_hand": 1157,
+     "no_body_fit": 9
+    },
+    "observed_fraction": 0.9184,
+    "observed_fraction_of_valid": 0.9189,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 22.45,
+     "smplx": 2.15
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.6,
+      "p90": 7.7
+     },
+     "registered": {
+      "median": 4.8,
+      "p90": 6.7
+     }
+    }
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+     -0.0494,
+     -0.0681
+    ],
+    "dev_deg": {
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+     "p90": 29.43
+    },
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+    "accepted": 2747,
+    "wrist_pos_err_mm_median": 44.2,
+    "per_camera": {
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+      "tier": "primary",
+      "dev_deg_median": 12.65,
+      "wrist_pos_err_mm_median": 44.2
+     }
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+     "smplx": 2.47
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 6.2
+     },
+     "registered": {
+      "median": 4.9,
+      "p90": 7.8
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:35:05.772035+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/LM68/session_005",
   "family": "locomanipulation",
   "primitive": "LM68",
   "source_session": "20260924/LM68/20260924_085737_session121"
+ },
+ "task": {
+  "primitive": "LM68",
+  "instruction": "Carry the box up the three steps, turn at the top, and carry it back down. Use the handrail only if you need it. Keep going until the operator says stop; one object at a time, and do not rush between trips."
  }
 }