Release update 2026-11-05: new sessions, instructions, annotations (part 90)

actions/locomanipulation/LM18/session_026/meta.json

@@ -364,8 +364,8 @@
   "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": {
@@ -508,12 +508,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 32.28,
+    "offset_rotvec": [
+     0.5566,
+     -0.087,
+     -0.0054
+    ],
+    "dev_deg": {
+     "median": 22.72,
+     "p90": 153.49
+    },
+    "samples": 3581,
+    "accepted": 2354,
+    "wrist_pos_err_mm_median": 56.1,
+    "per_camera": {
+     "head": {
+      "samples": 3581,
+      "accepted": 2354,
+      "gate_deg": 30.0,
+      "offset_deg": 32.28,
+      "tier": "primary",
+      "dev_deg_median": 22.72,
+      "wrist_pos_err_mm_median": 56.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9582,
+     "interpolated": 2754,
+     "mean_hand": 2548,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.8288,
+    "observed_fraction_of_valid": 0.8288,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 45.52,
+     "smplx": 3.44
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.0,
+      "p90": 10.4
+     },
+     "registered": {
+      "median": 6.9,
+      "p90": 8.0
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 30.93,
+    "offset_rotvec": [
+     0.5275,
+     -0.0193,
+     -0.1127
+    ],
+    "dev_deg": {
+     "median": 9.62,
+     "p90": 25.69
+    },
+    "samples": 3613,
+    "accepted": 3349,
+    "wrist_pos_err_mm_median": 102.6,
+    "per_camera": {
+     "head": {
+      "samples": 3613,
+      "accepted": 3349,
+      "gate_deg": 30.0,
+      "offset_deg": 30.93,
+      "tier": "primary",
+      "dev_deg_median": 9.62,
+      "wrist_pos_err_mm_median": 102.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13478,
+     "interpolated": 1038,
+     "mean_hand": 368,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9753,
+    "observed_fraction_of_valid": 0.9753,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 26.52,
+     "smplx": 1.79
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.5,
+      "p90": 6.7
+     },
+     "registered": {
+      "median": 5.4,
+      "p90": 6.8
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:09:13.405764+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/LM18/session_026",
   "family": "locomanipulation",
   "primitive": "LM18",
   "source_session": "20261013/LM18/20261013_061655_session99"
  },
+ "task": {
+  "primitive": "LM18",
+  "instruction": "Hold the object against your hip on the side the operator calls, and carry it back and forth across the room."
+ },
  "objects": [
   {
    "name": "LittleBox1",

actions/locomanipulation/LM18/session_026/motions/hands_mano.npz

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actions/locomanipulation/LM18/session_026/motions/smplx.npz

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actions/locomanipulation/LM18/session_027/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": "LM18",
+ "instruction": "Hold the object against your hip on the side the operator calls, and carry it back and forth across the room.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 123.966644,
+   "video": "left_eye",
+   "video_t_start": 0.039150288514162135
+  }
+ ],
+ "episodes": [
+  {
+   "id": "aeef37c3-bbc6-4077-96b1-9346bd07b54e",
+   "segment": "segment1",
+   "action": "LM18",
+   "quality": "valid",
+   "start_s": 0.472,
+   "end_s": 120.608,
+   "t_start": 0.5112,
+   "t_end": 120.6472,
+   "instruction": "Hold the object against your hip on the side the operator calls, and carry it back and forth across the room."
+  }
+ ]
+}

actions/locomanipulation/LM18/session_027/cameras/slam.npz

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actions/locomanipulation/LM18/session_027/meta.json

@@ -517,6 +517,10 @@
   "primitive": "LM18",
   "source_session": "20261013/LM18/20261013_061918_session100"
  },
+ "task": {
+  "primitive": "LM18",
+  "instruction": "Hold the object against your hip on the side the operator calls, and carry it back and forth across the room."
+ },
  "objects": [
   {
    "name": "LittleBox1",

actions/locomanipulation/LM18/session_027/motions/hands_mano.npz

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