Release update 2026-11-05: new sessions, instructions, annotations (part 348)

actions/locomanipulation/LM35/session_022/motions/hands_mano.npz

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actions/locomanipulation/LM35/session_022/motions/smplx.npz

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actions/locomanipulation/LM35/session_023/annotations.json

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+{
+ "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": "LM35",
+ "instruction": "Carry the box and, while walking, shift it to a different hold: front, then hip, then shoulder, then back to front. Do not stop walking.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 133.966656,
+   "video": "left_eye",
+   "video_t_start": 0.038952917341168236
+  }
+ ],
+ "episodes": [
+  {
+   "id": "aba231a1-b98f-4280-8723-073dee11eb33",
+   "segment": "segment1",
+   "action": "LM35",
+   "quality": "valid",
+   "start_s": 1,
+   "end_s": 121.887,
+   "t_start": 1.039,
+   "t_end": 121.926,
+   "instruction": "Carry the box and, while walking, shift it to a different hold: front, then hip, then shoulder, then back to front. Do not stop walking."
+  }
+ ]
+}

actions/locomanipulation/LM35/session_023/cameras/slam.npz

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actions/locomanipulation/LM35/session_023/meta.json

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   "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": {
@@ -484,12 +484,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 6.36,
+    "offset_rotvec": [
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+     -0.0666,
+     0.0835
+    ],
+    "dev_deg": {
+     "median": 16.82,
+     "p90": 38.8
+    },
+    "samples": 2758,
+    "accepted": 2177,
+    "wrist_pos_err_mm_median": 87.4,
+    "per_camera": {
+     "head": {
+      "samples": 2758,
+      "accepted": 2177,
+      "gate_deg": 30.0,
+      "offset_deg": 6.36,
+      "tier": "primary",
+      "dev_deg_median": 16.82,
+      "wrist_pos_err_mm_median": 87.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 8844,
+     "interpolated": 3420,
+     "mean_hand": 3812,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.7625,
+    "observed_fraction_of_valid": 0.7629,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 14.62,
+     "smplx": 1.51
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.4,
+      "p90": 7.0
+     },
+     "registered": {
+      "median": 5.4,
+      "p90": 6.8
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 14.61,
+    "offset_rotvec": [
+     0.092,
+     0.2148,
+     -0.1022
+    ],
+    "dev_deg": {
+     "median": 25.66,
+     "p90": 122.85
+    },
+    "samples": 2920,
+    "accepted": 1740,
+    "wrist_pos_err_mm_median": 89.5,
+    "per_camera": {
+     "head": {
+      "samples": 2920,
+      "accepted": 1740,
+      "gate_deg": 30.0,
+      "offset_deg": 14.61,
+      "tier": "primary",
+      "dev_deg_median": 25.66,
+      "wrist_pos_err_mm_median": 89.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 6969,
+     "interpolated": 1338,
+     "mean_hand": 7769,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.5165,
+    "observed_fraction_of_valid": 0.5167,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 24.08,
+     "smplx": 2.0
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.7,
+      "p90": 12.7
+     },
+     "registered": {
+      "median": 8.8,
+      "p90": 12.1
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:55:25.040954+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/LM35/session_023",
   "family": "locomanipulation",
   "primitive": "LM35",
   "source_session": "20261014/LM35/20261014_034345_session53"
  },
+ "task": {
+  "primitive": "LM35",
+  "instruction": "Carry the box and, while walking, shift it to a different hold: front, then hip, then shoulder, then back to front. Do not stop walking."
+ },
  "objects": [
   {
    "name": "BigBox1",

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