Release update 2026-11-05: new sessions, instructions, annotations (part 277)

actions/locomanipulation/LM30/session_030/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9a54bde0eb4f525d056a7bc9715f0a400d1230d74f1021b6af8fd7b34ed2f13
+size 74421335

actions/locomanipulation/LM30/session_030/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7dd2161e9815b01523093d5ee9d5fd41a482642c752dd3b30c99e9792d9fda1
+size 58198677

actions/locomanipulation/LM30/session_030/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a38e58d737691480b8c19ae7a881aaa1334c756a3e77118e468c370a8d0ace9
+size 55866330

actions/locomanipulation/LM31/session_001/annotations.json

@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 2)",
+ "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": "LM31",
+ "instruction": "Carry the box over the low sill without stopping, then bring it back over. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 118.966644,
+   "video": "left_eye",
+   "video_t_start": 0.03924406091336552
+  }
+ ],
+ "episodes": [
+  {
+   "id": "843454c4-b5c3-45ab-b661-6f670ad249bb",
+   "segment": "segment1",
+   "action": "LM31",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 112.334,
+   "t_start": 0.0392,
+   "t_end": 112.3732,
+   "instruction": "Carry the box over the low sill without stopping, then bring it back over. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}

actions/locomanipulation/LM31/session_001/cameras/gsi_online_calibration.json

@@ -0,0 +1,257 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.331
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.816,
+   "gate_fail": [],
+   "held_out_px_after": 0.447,
+   "held_out_px_before": 5.902,
+   "inliers": 4740,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.4363,
+    -0.3037,
+    -0.619
+   ],
+   "split_deg": 0.0189,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.0082,
+   "gate_fail": [],
+   "held_out_px_after": 0.333,
+   "held_out_px_before": 7.308,
+   "inliers": 7522,
+   "position_fitted": true,
+   "position_mm": [
+    -1.69,
+    -9.37,
+    9.38
+   ],
+   "position_sigma_mm": 0.394,
+   "position_split_mm": 5.643,
+   "rotvec_deg": [
+    0.1895,
+    0.5695,
+    -1.9164
+   ],
+   "split_deg": 0.0466,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.0651,
+   "gate_fail": [],
+   "held_out_px_after": 0.521,
+   "held_out_px_before": 3.499,
+   "inliers": 778,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.976,
+    -0.3824,
+    -0.1888
+   ],
+   "split_deg": 0.0837,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.8216,
+   "gate_fail": [],
+   "held_out_px_after": 0.328,
+   "held_out_px_before": 2.94,
+   "inliers": 7970,
+   "position_fitted": true,
+   "position_mm": [
+    4.1,
+    -10.27,
+    10.04
+   ],
+   "position_sigma_mm": 0.32,
+   "position_split_mm": 3.921,
+   "rotvec_deg": [
+    0.3223,
+    -0.5308,
+    -0.538
+   ],
+   "split_deg": 0.0635,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.3712,
+   "gate_fail": [],
+   "held_out_px_after": 0.297,
+   "held_out_px_before": 5.2,
+   "inliers": 7360,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.4734,
+    -0.0241,
+    -1.2867
+   ],
+   "split_deg": 0.0104,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "b4bc461a0883657f25b9f5b423a5a98fdef015dd286a634ac2c2eb06847b5629",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "d317f1e3110b3e9bf09744005aae65ab520d40fb9636b7aea89bed927757ce3a",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "fe509a906e00ea1b391f5ee3afd9eb2fdd8c0e500a1eb8d148b007547ea8bc4c",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "2b3e2dfae1dd4999c8335fd004a075241521c9660b3a789e5f0f5caa3b091d93",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "be5e6dba95aa964f",
+ "kind": "online_calibration",
+ "output_sha256": "1eefba8dd560804789ebcc10e88b584fc5dde293dfdb7b4b105859099facdf3b",
+ "overlap": {
+  "left-right": 0.501,
+  "left_eye-left": 0.707,
+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 34.585,
+  "left_eye": 32.006,
+  "left_front": 38.461,
+  "right": 38.367,
+  "right_eye": 32.283,
+  "right_front": 37.738
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   4963499803666,
+   4964499814777,
+   4967499814777,
+   4968499814777,
+   4972499814777,
+   4973499837000,
+   4976499814777,
+   4977499859222,
+   4979499814777,
+   4980499814777,
+   4981499892555,
+   4985499859222,
+   4986499803666,
+   4990499814777,
+   4991499959222,
+   4992499837000,
+   4993499803666,
+   4997499814777,
+   4998499803666,
+   5000499848111,
+   5001499814777,
+   5003499814777,
+   5004499837000,
+   5009499803666,
+   5010499837000,
+   5011499837000,
+   5012499837000,
+   5017499837000,
+   5018499825888,
+   5021499837000,
+   5022499837000,
+   5024499803666,
+   5025499859222,
+   5027499981444,
+   5028499837000,
+   5031499837000,
+   5032499837000,
+   5034499825888,
+   5035499837000,
+   5039499803666,
+   5040499837000,
+   5043499814777,
+   5044499837000,
+   5045499848111,
+   5048499837000,
+   5049499825888,
+   5052499959222,
+   5053499848111,
+   5056499848111,
+   5057499814777,
+   5061499859222,
+   5062499803666,
+   5066499837000,
+   5067499814777,
+   5069499859222,
+   5070499803666,
+   5071499837000,
+   5072499848111
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM31/session_001/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:716bce09db31603fbfb298bc2c8999cf90bae3b5a5d200fd70385c718e58b087
+size 685236

actions/locomanipulation/LM31/session_001/meta.json

@@ -511,5 +511,9 @@
   "family": "locomanipulation",
   "primitive": "LM31",
   "source_session": "20260914/LM31/20260914_015309_session20"
+ },
+ "task": {
+  "primitive": "LM31",
+  "instruction": "Carry the box over the low sill without stopping, then bring it back over. Keep going until the operator says stop; one object at a time, and do not rush between trips."
  }
 }

actions/locomanipulation/LM31/session_001/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89ed29bc7bfa84d8762fe09d493dfdb2cba8906884f4bc11afbf2043a731a1a9
+size 3766195

actions/locomanipulation/LM31/session_002/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": "LM31",
+ "instruction": "Carry the box over the low sill without stopping, then bring it back over. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 108.966667,
+   "video": "left_eye",
+   "video_t_start": 0.03922109909653271
+  }
+ ],
+ "episodes": [
+  {
+   "id": "b8525a72-8d2c-4303-8c15-59c234de5f6a",
+   "segment": "segment1",
+   "action": "LM31",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 98.649,
+   "t_start": 0.0392,
+   "t_end": 98.6882,
+   "instruction": "Carry the box over the low sill without stopping, then bring it back over. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}

actions/locomanipulation/LM31/session_002/cameras/gsi_online_calibration.json

@@ -0,0 +1,258 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.334
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 0.7684,
+   "gate_fail": [],
+   "held_out_px_after": 0.443,
+   "held_out_px_before": 3.372,
+   "inliers": 3879,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.3612,
+    -0.2982,
+    -0.6091
+   ],
+   "split_deg": 0.027,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9951,
+   "gate_fail": [],
+   "held_out_px_after": 0.348,
+   "held_out_px_before": 7.316,
+   "inliers": 5579,
+   "position_fitted": true,
+   "position_mm": [
+    0.48,
+    -10.54,
+    5.41
+   ],
+   "position_sigma_mm": 0.309,
+   "position_split_mm": 0.916,
+   "rotvec_deg": [
+    0.1296,
+    0.614,
+    -1.8939
+   ],
+   "split_deg": 0.0171,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 0.9652,
+   "gate_fail": [],
+   "held_out_px_after": 0.535,
+   "held_out_px_before": 3.506,
+   "inliers": 976,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.8952,
+    -0.2923,
+    -0.2116
+   ],
+   "split_deg": 0.052,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.7621,
+   "gate_fail": [],
+   "held_out_px_after": 0.327,
+   "held_out_px_before": 3.275,
+   "inliers": 6305,
+   "position_fitted": true,
+   "position_mm": [
+    6.28,
+    -10.3,
+    6.36
+   ],
+   "position_sigma_mm": 0.354,
+   "position_split_mm": 1.217,
+   "rotvec_deg": [
+    0.2835,
+    -0.4888,
+    -0.5113
+   ],
+   "split_deg": 0.0156,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.3754,
+   "gate_fail": [],
+   "held_out_px_after": 0.3,
+   "held_out_px_before": 5.255,
+   "inliers": 6005,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.4613,
+    0.0004,
+    -1.2957
+   ],
+   "split_deg": 0.0099,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "4f814dfb55b0d970e89273eb2e329e89a174f307bf807b5439c8672fb8745dc8",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "3fe92836808f67d2b1b0610dfe193f9133c36a81233cb8034d1499fbd079ca7f",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "df854b50fc3e7ed178e5ae5148d836edf93c07552703ca6219107405e7f86c0b",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "0f221564f5817067877efb4bbfe50fc86d495614182f7f53b0e17595a2c54443",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "37d25fdff33c0fa6",
+ "kind": "online_calibration",
+ "output_sha256": "bcf8958d95ea9cde592dcd8e469cc8d6f7f1d1ce1c4156947fc8af0c6824ae64",
+ "overlap": {
+  "left-right": 0.501,
+  "left_eye-left": 0.707,
+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 34.245,
+  "left_eye": 30.164,
+  "left_front": 38.336,
+  "right": 40.197,
+  "right_eye": 31.102,
+  "right_front": 38.572
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   5094755175777,
+   5095755198000,
+   5097755175777,
+   5098755198000,
+   5101755175777,
+   5102755342444,
+   5103755198000,
+   5104755175777,
+   5107755186888,
+   5108755164666,
+   5111755198000,
+   5112755175777,
+   5113755175777,
+   5114755209111,
+   5118755198000,
+   5119755198000,
+   5121755164666,
+   5122755220222,
+   5124755209111,
+   5125755198000,
+   5129755175777,
+   5130755242444,
+   5133755175777,
+   5134755209111,
+   5135755175777,
+   5139755198000,
+   5140755209111,
+   5143755198000,
+   5144755209111,
+   5145755220222,
+   5149755175777,
+   5150755209111,
+   5153755198000,
+   5154755175777,
+   5156755198000,
+   5157755164666,
+   5160755209111,
+   5161755198000,
+   5164755209111,
+   5165755175777,
+   5166755175777,
+   5167755253555,
+   5169755198000,
+   5170755209111,
+   5174755175777,
+   5175755209111,
+   5178755175777,
+   5179755198000,
+   5181755198000,
+   5182755198000,
+   5185755175777,
+   5186755175777,
+   5187755253555,
+   5188755186888,
+   5192755186888,
+   5193755164666,
+   5194755198000
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM31/session_002/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cbe3f93676f402a7168c8bdf4c1a2cf217388a7a7dbae06fd40cb425a59d4d4
+size 628491

actions/locomanipulation/LM31/session_002/meta.json

@@ -511,5 +511,9 @@
   "family": "locomanipulation",
   "primitive": "LM31",
   "source_session": "20260914/LM31/20260914_015520_session21"
+ },
+ "task": {
+  "primitive": "LM31",
+  "instruction": "Carry the box over the low sill without stopping, then bring it back over. Keep going until the operator says stop; one object at a time, and do not rush between trips."
  }
 }

actions/locomanipulation/LM31/session_002/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea0cf454f67a612cba0483c013fb41e0e72e976b593c8cc496e7af56409e9bc4
+size 3542235

actions/locomanipulation/LM31/session_003/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": "LM31",
+ "instruction": "Carry the box over the low sill without stopping, then bring it back over. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 118.966567,
+   "video": "left_eye",
+   "video_t_start": 0.03933015333833523
+  }
+ ],
+ "episodes": [
+  {
+   "id": "70be51a9-3b38-4ab7-b285-02f4a56d71b3",
+   "segment": "segment1",
+   "action": "LM31",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 114.971,
+   "t_start": 0.0393,
+   "t_end": 115.0103,
+   "instruction": "Carry the box over the low sill without stopping, then bring it back over. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}

actions/locomanipulation/LM31/session_003/cameras/gsi_online_calibration.json

@@ -0,0 +1,257 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.344
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.2112,
+   "gate_fail": [],
+   "held_out_px_after": 0.418,
+   "held_out_px_before": 4.639,
+   "inliers": 4965,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.6379,
+    -0.4148,
+    -0.9424
+   ],
+   "split_deg": 0.0411,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.0037,
+   "gate_fail": [],
+   "held_out_px_after": 0.335,
+   "held_out_px_before": 6.241,
+   "inliers": 7180,
+   "position_fitted": true,
+   "position_mm": [
+    3.83,
+    -13.83,
+    2.57
+   ],
+   "position_sigma_mm": 0.24,
+   "position_split_mm": 1.795,
+   "rotvec_deg": [
+    0.2111,
+    0.5992,
+    -1.9003
+   ],
+   "split_deg": 0.0538,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.2303,
+   "gate_fail": [],
+   "held_out_px_after": 0.63,
+   "held_out_px_before": 3.63,
+   "inliers": 1061,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.1583,
+    -0.4148,
+    0.0065
+   ],
+   "split_deg": 0.2171,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.8633,
+   "gate_fail": [],
+   "held_out_px_after": 0.325,
+   "held_out_px_before": 3.223,
+   "inliers": 7282,
+   "position_fitted": true,
+   "position_mm": [
+    5.67,
+    -14.96,
+    1.49
+   ],
+   "position_sigma_mm": 0.322,
+   "position_split_mm": 2.084,
+   "rotvec_deg": [
+    0.41,
+    -0.5036,
+    -0.5688
+   ],
+   "split_deg": 0.0564,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.3566,
+   "gate_fail": [],
+   "held_out_px_after": 0.321,
+   "held_out_px_before": 5.314,
+   "inliers": 6349,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.435,
+    -0.0694,
+    -1.2831
+   ],
+   "split_deg": 0.0164,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "c443999204cb722a584a09b7709a261c5a14653f16cc6e859a5748ac96805ce5",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "80bb30c5347f4c834bda3c05442413d78b8c07606d137e178a7c957904244104",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "c7ea16202525fb4fec4b81e66c2dc02298a8c2dc8aea728730f05fc2470e4b3d",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "b2d23d3b7f5cdacb25ddabdd9ed7480103585d6fa63b3afcddd2a6b3a18d3bdb",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "b74cea6c70750348",
+ "kind": "online_calibration",
+ "output_sha256": "caa42cc410d8377cf1954051ca49bace37141eeb878c806e6643123c50fe1a21",
+ "overlap": {
+  "left-right": 0.501,
+  "left_eye-left": 0.707,
+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 35.307,
+  "left_eye": 35.557,
+  "left_front": 39.545,
+  "right": 42.508,
+  "right_eye": 36.12,
+  "right_front": 40.294
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   11657652161555,
+   11658652106000,
+   11660652083777,
+   11661652106000,
+   11664652117111,
+   11665652106000,
+   11669652072666,
+   11670652106000,
+   11671652083777,
+   11672652117111,
+   11675652228222,
+   11676652106000,
+   11682652106000,
+   11683652083777,
+   11685652106000,
+   11686652072666,
+   11689652117111,
+   11690652106000,
+   11693652206000,
+   11694652072666,
+   11695652128222,
+   11698652106000,
+   11699652094888,
+   11702652228222,
+   11703652106000,
+   11707652083777,
+   11708652072666,
+   11710652094888,
+   11711652106000,
+   11715652072666,
+   11716652106000,
+   11717652072666,
+   11718652083777,
+   11722652106000,
+   11723652261555,
+   11725652083777,
+   11726652150444,
+   11730652272666,
+   11731652106000,
+   11733652106000,
+   11734652261555,
+   11738652106000,
+   11739652106000,
+   11742652083777,
+   11743652139333,
+   11747652106000,
+   11748652094888,
+   11749652117111,
+   11754652161555,
+   11755652139333,
+   11756652094888,
+   11757652106000,
+   11763652106000,
+   11764652094888,
+   11765652094888,
+   11766652139333,
+   11768652094888,
+   11769652094888
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM31/session_003/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a2300e1f7a95adc72bb17e5e9ddd5bec450ddb4e1c0b038dd383686949dab4b
+size 685779

actions/locomanipulation/LM31/session_003/meta.json

@@ -530,5 +530,9 @@
   "family": "locomanipulation",
   "primitive": "LM31",
   "source_session": "20260914/LM31/20260914_034443_session54"
+ },
+ "task": {
+  "primitive": "LM31",
+  "instruction": "Carry the box over the low sill without stopping, then bring it back over. Keep going until the operator says stop; one object at a time, and do not rush between trips."
  }
 }

actions/locomanipulation/LM31/session_003/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa6713156c18522d8d87317d0ba63deebaff084b158d17f4126454ae21d7e54d
+size 4762090

actions/locomanipulation/LM31/session_004/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": "LM31",
+ "instruction": "Carry the box over the low sill without stopping, then bring it back over. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 108.966667,
+   "video": "left_eye",
+   "video_t_start": 0.038528126569893795
+  }
+ ],
+ "episodes": [
+  {
+   "id": "0b65d624-08e2-4316-8599-fe27b4ea90bf",
+   "segment": "segment1",
+   "action": "LM31",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 102.966,
+   "t_start": 0.0385,
+   "t_end": 103.0045,
+   "instruction": "Carry the box over the low sill without stopping, then bring it back over. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}

actions/locomanipulation/LM31/session_004/cameras/gsi_online_calibration.json

@@ -0,0 +1,253 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.389
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.7998,
+   "gate_fail": [],
+   "held_out_px_after": 0.578,
+   "held_out_px_before": 3.848,
+   "inliers": 2014,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.1982,
+    -0.3248,
+    -0.7035
+   ],
+   "split_deg": 0.0498,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.8565,
+   "gate_fail": [],
+   "held_out_px_after": 0.41,
+   "held_out_px_before": 6.27,
+   "inliers": 2982,
+   "position_fitted": true,
+   "position_mm": [
+    6.67,
+    -20.28,
+    3.49
+   ],
+   "position_sigma_mm": 0.127,
+   "position_split_mm": 1.078,
+   "rotvec_deg": [
+    -0.182,
+    0.6493,
+    -1.7297
+   ],
+   "split_deg": 0.0977,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.1357,
+   "gate_fail": [],
+   "held_out_px_after": 0.549,
+   "held_out_px_before": 4.123,
+   "inliers": 1564,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.1099,
+    -0.1844,
+    -0.1544
+   ],
+   "split_deg": 0.068,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.5765,
+   "gate_fail": [],
+   "held_out_px_after": 0.377,
+   "held_out_px_before": 3.332,
+   "inliers": 2809,
+   "position_fitted": true,
+   "position_mm": [
+    6.97,
+    -21.47,
+    3.92
+   ],
+   "position_sigma_mm": 0.122,
+   "position_split_mm": 0.918,
+   "rotvec_deg": [
+    0.0456,
+    -0.449,
+    -0.3587
+   ],
+   "split_deg": 0.0924,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.4222,
+   "gate_fail": [],
+   "held_out_px_after": 0.343,
+   "held_out_px_before": 4.939,
+   "inliers": 3933,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.4378,
+    -0.0143,
+    -1.3531
+   ],
+   "split_deg": 0.0201,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "7e87cf1458c1c48a5c242eeac62c92f3c0c9062605de77fa3b51235a113828b8",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "776cfe93c2cc4696cf561fc493f14c6603e776ebb4a87b2171a36ffcffd9f184",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "42b72d682e6f5b66885de38319ba3e7bb236072e79c2d2e2c45501f051d9c0d6",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "afc992af608ee797772199ce3732e3e75613ba9643f849f9e1d5b8fff6b045ed",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "858f736bbecbf831",
+ "kind": "online_calibration",
+ "output_sha256": "b06dde8b1d7f6fdb05c3fd4211ca96fb5bb868a133f77371b2b001bc49fa3e29",
+ "overlap": {
+  "left-right": 0.501,
+  "left_eye-left": 0.707,
+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 41.342,
+  "left_eye": 40.429,
+  "left_front": 47.579,
+  "right": 42.309,
+  "right_eye": 39.089,
+  "right_front": 45.327
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   7367362581777,
+   7368362615111,
+   7370362581777,
+   7371362637333,
+   7372362648444,
+   7373362581777,
+   7377362648444,
+   7378362604000,
+   7379362581777,
+   7384362648444,
+   7385362592888,
+   7386362581777,
+   7390362615111,
+   7391362581777,
+   7394362570666,
+   7395362592888,
+   7396362581777,
+   7401362581777,
+   7402362637333,
+   7405362637333,
+   7406362604000,
+   7407362592888,
+   7409362570666,
+   7410362615111,
+   7413362581777,
+   7414362659555,
+   7417362581777,
+   7418362570666,
+   7419362615111,
+   7420362570666,
+   7424362637333,
+   7425362581777,
+   7429362659555,
+   7430362581777,
+   7431362615111,
+   7433362581777,
+   7434362581777,
+   7439362615111,
+   7440362604000,
+   7442362581777,
+   7443362626222,
+   7445362626222,
+   7446362581777,
+   7449362637333,
+   7450362626222,
+   7453362726222,
+   7454362626222,
+   7456362648444,
+   7457362615111,
+   7459362581777,
+   7460362592888,
+   7463362615111,
+   7464362581777,
+   7465362592888
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM31/session_004/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c61cea2482a8aa063d2b1cc74d3556cbd1761298f51876d3d614f376dadb34f9
+size 627800

actions/locomanipulation/LM31/session_004/meta.json

@@ -344,8 +344,8 @@
   "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": {
@@ -525,10 +525,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.2613902339678855
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 17.89,
+    "offset_rotvec": [
+     -0.0693,
+     0.3008,
+     0.0473
+    ],
+    "dev_deg": {
+     "median": 5.7,
+     "p90": 12.25
+    },
+    "samples": 3239,
+    "accepted": 3134,
+    "wrist_pos_err_mm_median": 47.4,
+    "per_camera": {
+     "head": {
+      "samples": 3239,
+      "accepted": 3134,
+      "gate_deg": 30.0,
+      "offset_deg": 17.89,
+      "tier": "primary",
+      "dev_deg_median": 5.7,
+      "wrist_pos_err_mm_median": 47.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12556,
+     "interpolated": 280,
+     "mean_hand": 248,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.981,
+    "observed_fraction_of_valid": 0.981,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 18.55,
+     "smplx": 0.44
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 12.1,
+      "p90": 12.8
+     },
+     "registered": {
+      "median": 11.1,
+      "p90": 11.9
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 21.42,
+    "offset_rotvec": [
+     -0.1439,
+     -0.3441,
+     0.0248
+    ],
+    "dev_deg": {
+     "median": 4.97,
+     "p90": 9.0
+    },
+    "samples": 3215,
+    "accepted": 3215,
+    "wrist_pos_err_mm_median": 41.6,
+    "per_camera": {
+     "head": {
+      "samples": 3215,
+      "accepted": 3215,
+      "gate_deg": 30.0,
+      "offset_deg": 21.42,
+      "tier": "primary",
+      "dev_deg_median": 4.97,
+      "wrist_pos_err_mm_median": 41.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12862,
+     "interpolated": 94,
+     "mean_hand": 128,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9902,
+    "observed_fraction_of_valid": 0.9902,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 22.33,
+     "smplx": 0.33
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 12.2,
+      "p90": 14.0
+     },
+     "registered": {
+      "median": 12.5,
+      "p90": 13.1
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T23:00:15.521787+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/LM31/session_004",
   "family": "locomanipulation",
   "primitive": "LM31",
   "source_session": "20260918/LM31/20260918_072447_session37"
+ },
+ "task": {
+  "primitive": "LM31",
+  "instruction": "Carry the box over the low sill without stopping, then bring it back over. Keep going until the operator says stop; one object at a time, and do not rush between trips."
  }
 }

actions/locomanipulation/LM31/session_004/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49c973643fd4a0b089a74be6e48a22b79df86a3efbbf6b6fb7793734b513b3e0
+size 4341611

actions/locomanipulation/LM31/session_004/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:99ba32e84d1dc5ab41715d475c286812c9155f1a902826dc9beff6d63f175543
-size 5022154
+oid sha256:95846d6c31fea854d18e85b13f6230aa8829a24ded574c5523c55d6e43b076a3
+size 9351486

actions/locomanipulation/LM31/session_005/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": "LM31",
+ "instruction": "Carry the box over the low sill without stopping, then bring it back over. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 123.966733,
+   "video": "left_eye",
+   "video_t_start": 0.03892788965962879
+  }
+ ],
+ "episodes": [
+  {
+   "id": "fa5e38d7-3bd4-453f-ad9d-abf2ba4480b6",
+   "segment": "segment1",
+   "action": "LM31",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 118.967,
+   "t_start": 0.0389,
+   "t_end": 119.0059,
+   "instruction": "Carry the box over the low sill without stopping, then bring it back over. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}

actions/locomanipulation/LM31/session_005/cameras/gsi_online_calibration.json

@@ -0,0 +1,255 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.387
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.8188,
+   "gate_fail": [],
+   "held_out_px_after": 0.564,
+   "held_out_px_before": 3.926,
+   "inliers": 2027,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2021,
+    -0.3354,
+    -0.719
+   ],
+   "split_deg": 0.0572,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.8281,
+   "gate_fail": [],
+   "held_out_px_after": 0.402,
+   "held_out_px_before": 5.639,
+   "inliers": 3125,
+   "position_fitted": true,
+   "position_mm": [
+    7.08,
+    -20.02,
+    3.48
+   ],
+   "position_sigma_mm": 0.117,
+   "position_split_mm": 0.79,
+   "rotvec_deg": [
+    -0.1451,
+    0.6128,
+    -1.7162
+   ],
+   "split_deg": 0.0557,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.1649,
+   "gate_fail": [],
+   "held_out_px_after": 0.487,
+   "held_out_px_before": 4.195,
+   "inliers": 1581,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.1376,
+    -0.1986,
+    -0.1532
+   ],
+   "split_deg": 0.0168,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.6142,
+   "gate_fail": [],
+   "held_out_px_after": 0.379,
+   "held_out_px_before": 3.387,
+   "inliers": 3032,
+   "position_fitted": true,
+   "position_mm": [
+    7.36,
+    -21.28,
+    3.98
+   ],
+   "position_sigma_mm": 0.116,
+   "position_split_mm": 0.22,
+   "rotvec_deg": [
+    0.0811,
+    -0.4913,
+    -0.3595
+   ],
+   "split_deg": 0.056,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.4269,
+   "gate_fail": [],
+   "held_out_px_after": 0.341,
+   "held_out_px_before": 4.839,
+   "inliers": 4213,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.4428,
+    -0.0211,
+    -1.3563
+   ],
+   "split_deg": 0.063,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "5704a075dc1b06d80e16ef2e8bc869f008ca7e449be64556a5a81a03b8b2db83",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "4c07bf82f5cff2108ebb4136a098b231364bc9ca9f79289b5f185f70afa423d3",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "9a1754b25b5db431ce5aac236900ae20d03d42d40629eaba56eedd24bc27dabc",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "1f7a6e3077b027536ed8e63837c19025bbeef1ed6fa76bb2f95d9538e71ab838",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "56b7698446e5e178",
+ "kind": "online_calibration",
+ "output_sha256": "534f45cb127dbdd57dc78cf1b851adc8117e0b07c6c3faff86a8ce70a09d4593",
+ "overlap": {
+  "left-right": 0.501,
+  "left_eye-left": 0.707,
+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 38.352,
+  "left_eye": 40.549,
+  "left_front": 44.323,
+  "right": 40.536,
+  "right_eye": 39.792,
+  "right_front": 41.629
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   7491446715111,
+   7492446715111,
+   7493446715111,
+   7494446737333,
+   7498446715111,
+   7499446870666,
+   7503446715111,
+   7504446804000,
+   7505446726222,
+   7506446804000,
+   7509446759555,
+   7510446715111,
+   7515446715111,
+   7516446715111,
+   7520446848444,
+   7521446759555,
+   7522446715111,
+   7526446770666,
+   7527446715111,
+   7531446715111,
+   7532446726222,
+   7534446737333,
+   7535446859555,
+   7537446715111,
+   7538446781777,
+   7541446715111,
+   7542446726222,
+   7548446715111,
+   7549446715111,
+   7550446715111,
+   7554446770666,
+   7555446726222,
+   7560446770666,
+   7561446859555,
+   7563446704000,
+   7564446770666,
+   7568446781777,
+   7569446715111,
+   7570446726222,
+   7576446770666,
+   7577446726222,
+   7580446748444,
+   7581446781777,
+   7584446804000,
+   7585446715111,
+   7588446726222,
+   7589446915111,
+   7592446792888,
+   7593446759555,
+   7594446715111,
+   7600446770666,
+   7601446715111,
+   7603446726222,
+   7604446770666,
+   7605446781777,
+   7606446715111
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM31/session_005/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:741ba70d9484c013443d13d12517e3e5bcb4e8ae820fe9fff515389b7837577f
+size 714372

actions/locomanipulation/LM31/session_005/meta.json

@@ -342,8 +342,8 @@
   "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": {
@@ -528,10 +528,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.205625737126563
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 15.44,
+    "offset_rotvec": [
+     -0.0686,
+     0.2603,
+     0.0129
+    ],
+    "dev_deg": {
+     "median": 5.54,
+     "p90": 11.17
+    },
+    "samples": 3660,
+    "accepted": 3603,
+    "wrist_pos_err_mm_median": 36.0,
+    "per_camera": {
+     "head": {
+      "samples": 3660,
+      "accepted": 3603,
+      "gate_deg": 30.0,
+      "offset_deg": 15.44,
+      "tier": "primary",
+      "dev_deg_median": 5.54,
+      "wrist_pos_err_mm_median": 36.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14428,
+     "interpolated": 308,
+     "mean_hand": 140,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9901,
+    "observed_fraction_of_valid": 0.9906,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 16.71,
+     "smplx": 0.46
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.1,
+      "p90": 10.4
+     },
+     "registered": {
+      "median": 10.3,
+      "p90": 11.5
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 19.8,
+    "offset_rotvec": [
+     -0.1096,
+     -0.318,
+     0.0792
+    ],
+    "dev_deg": {
+     "median": 4.91,
+     "p90": 7.53
+    },
+    "samples": 3652,
+    "accepted": 3650,
+    "wrist_pos_err_mm_median": 40.4,
+    "per_camera": {
+     "head": {
+      "samples": 3652,
+      "accepted": 3650,
+      "gate_deg": 30.0,
+      "offset_deg": 19.8,
+      "tier": "primary",
+      "dev_deg_median": 4.91,
+      "wrist_pos_err_mm_median": 40.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14598,
+     "interpolated": 34,
+     "mean_hand": 244,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9831,
+    "observed_fraction_of_valid": 0.9836,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 19.85,
+     "smplx": 0.32
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 13.1,
+      "p90": 13.6
+     },
+     "registered": {
+      "median": 13.0,
+      "p90": 13.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T23:00:13.837743+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/LM31/session_005",
   "family": "locomanipulation",
   "primitive": "LM31",
   "source_session": "20260918/LM31/20260918_072652_session38"
+ },
+ "task": {
+  "primitive": "LM31",
+  "instruction": "Carry the box over the low sill without stopping, then bring it back over. Keep going until the operator says stop; one object at a time, and do not rush between trips."
  }
 }

actions/locomanipulation/LM31/session_005/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac7f7b3e606adab86253e51f89cffb7ac1a1c7922c0af7df845e47aae6b096e8
+size 4923589

actions/locomanipulation/LM31/session_005/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8a88ff8797c82939dc791cb71dba34c2e9e83ef9e66d785cd48d0652c34f510f
-size 5717305
+oid sha256:e9101a473d158053a95a0f78e355009775b7fa5b37617a826b7c6ea7aa19e4e5
+size 10658423

actions/locomanipulation/LM31/session_006/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": "LM31",
+ "instruction": "Carry the box over the low sill without stopping, then bring it back over. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 118.966667,
+   "video": "left_eye",
+   "video_t_start": 0.03924759369722319
+  }
+ ],
+ "episodes": [
+  {
+   "id": "753406ea-ec76-40fd-beb2-23528f9454d8",
+   "segment": "segment1",
+   "action": "LM31",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 114.966,
+   "t_start": 0.0392,
+   "t_end": 115.0052,
+   "instruction": "Carry the box over the low sill without stopping, then bring it back over. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}

actions/locomanipulation/LM31/session_006/cameras/gsi_online_calibration.json

@@ -0,0 +1,254 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.384
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.0452,
+   "gate_fail": [],
+   "held_out_px_after": 0.47,
+   "held_out_px_before": 4.145,
+   "inliers": 2341,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.4263,
+    -0.333,
+    -0.8944
+   ],
+   "split_deg": 0.121,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9861,
+   "gate_fail": [],
+   "held_out_px_after": 0.425,
+   "held_out_px_before": 6.589,
+   "inliers": 3508,
+   "position_fitted": true,
+   "position_mm": [
+    5.39,
+    -18.74,
+    3.41
+   ],
+   "position_sigma_mm": 0.146,
+   "position_split_mm": 1.171,
+   "rotvec_deg": [
+    -0.0466,
+    0.7032,
+    -1.8568
+   ],
+   "split_deg": 0.0984,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.3419,
+   "gate_fail": [],
+   "held_out_px_after": 0.73,
+   "held_out_px_before": 4.153,
+   "inliers": 1495,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.3062,
+    -0.288,
+    -0.1076
+   ],
+   "split_deg": 0.0728,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.668,
+   "gate_fail": [],
+   "held_out_px_after": 0.382,
+   "held_out_px_before": 3.614,
+   "inliers": 3758,
+   "position_fitted": true,
+   "position_mm": [
+    5.62,
+    -20.56,
+    3.17
+   ],
+   "position_sigma_mm": 0.133,
+   "position_split_mm": 1.205,
+   "rotvec_deg": [
+    0.1831,
+    -0.4166,
+    -0.489
+   ],
+   "split_deg": 0.1293,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.4005,
+   "gate_fail": [],
+   "held_out_px_after": 0.333,
+   "held_out_px_before": 4.973,
+   "inliers": 4633,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.4492,
+    0.0135,
+    -1.3265
+   ],
+   "split_deg": 0.0135,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "274ac767b1508488af4202ac00fa7086175524b415424c74ae8c5d1407a41f66",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "e4d3cc8754c6d0a3b485eea283169c00267083dbe2aac524040b894e79979ed2",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "39d34cfd8d722a51f963195fc9b06206f53245b6267c545d1ab17cd273a7a030",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "697e6ff80fab200cf1b1e94a452f4a3cf8d0cf1a10de782779ee2a803ec348a5",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "76315931d9b16f2c",
+ "kind": "online_calibration",
+ "output_sha256": "1ee07112e6eab65c0fcb59e0e471cf3039c6f387ebaac5e624b213333618b2df",
+ "overlap": {
+  "left-right": 0.501,
+  "left_eye-left": 0.707,
+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 39.618,
+  "left_eye": 33.357,
+  "left_front": 41.511,
+  "right": 38.843,
+  "right_eye": 32.768,
+  "right_front": 38.754
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   7627534747444,
+   7628534669666,
+   7631534725222,
+   7632534669666,
+   7633534725222,
+   7637534725222,
+   7638534725222,
+   7640534669666,
+   7641534669666,
+   7644534703000,
+   7645534736333,
+   7648534680777,
+   7649534747444,
+   7654534691888,
+   7655534669666,
+   7658534747444,
+   7659534680777,
+   7660534725222,
+   7666534669666,
+   7667534769666,
+   7670534669666,
+   7671534925222,
+   7672534669666,
+   7676534747444,
+   7677534669666,
+   7681534680777,
+   7682534725222,
+   7683534691888,
+   7684534669666,
+   7686534736333,
+   7687534669666,
+   7692534736333,
+   7693534691888,
+   7694534747444,
+   7697534803000,
+   7698534691888,
+   7702534680777,
+   7703534669666,
+   7708534736333,
+   7709534680777,
+   7710534691888,
+   7714534725222,
+   7715534691888,
+   7717534669666,
+   7718534703000,
+   7720534880777,
+   7721534658555,
+   7726534669666,
+   7727534669666,
+   7731534725222,
+   7732534714111,
+   7733534680777,
+   7734534669666,
+   7736534747444,
+   7737534714111
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM31/session_006/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b32ff13fa99f4037a2a922a71ae63b618e2a908a456ada0b7332661577f7d7d
+size 684636

actions/locomanipulation/LM31/session_006/meta.json

@@ -344,8 +344,8 @@
   "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": {
@@ -530,10 +530,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.406137839866824
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 11.68,
+    "offset_rotvec": [
+     -0.0115,
+     0.2016,
+     0.0274
+    ],
+    "dev_deg": {
+     "median": 4.76,
+     "p90": 10.92
+    },
+    "samples": 3539,
+    "accepted": 3526,
+    "wrist_pos_err_mm_median": 41.5,
+    "per_camera": {
+     "head": {
+      "samples": 3539,
+      "accepted": 3526,
+      "gate_deg": 30.0,
+      "offset_deg": 11.68,
+      "tier": "primary",
+      "dev_deg_median": 4.76,
+      "wrist_pos_err_mm_median": 41.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14116,
+     "interpolated": 40,
+     "mean_hand": 128,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.991,
+    "observed_fraction_of_valid": 0.991,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.47,
+     "smplx": 0.49
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 11.8,
+      "p90": 12.8
+     },
+     "registered": {
+      "median": 10.9,
+      "p90": 11.6
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 21.76,
+    "offset_rotvec": [
+     -0.1085,
+     -0.3603,
+     -0.0508
+    ],
+    "dev_deg": {
+     "median": 6.11,
+     "p90": 9.09
+    },
+    "samples": 3516,
+    "accepted": 3516,
+    "wrist_pos_err_mm_median": 41.7,
+    "per_camera": {
+     "head": {
+      "samples": 3516,
+      "accepted": 3516,
+      "gate_deg": 30.0,
+      "offset_deg": 21.76,
+      "tier": "primary",
+      "dev_deg_median": 6.11,
+      "wrist_pos_err_mm_median": 41.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14066,
+     "interpolated": 90,
+     "mean_hand": 128,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.991,
+    "observed_fraction_of_valid": 0.991,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 22.18,
+     "smplx": 0.96
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 12.5,
+      "p90": 14.3
+     },
+     "registered": {
+      "median": 12.7,
+      "p90": 13.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T23:00:13.907199+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/LM31/session_006",
   "family": "locomanipulation",
   "primitive": "LM31",
   "source_session": "20260918/LM31/20260918_072907_session39"
+ },
+ "task": {
+  "primitive": "LM31",
+  "instruction": "Carry the box over the low sill without stopping, then bring it back over. Keep going until the operator says stop; one object at a time, and do not rush between trips."
  }
 }

actions/locomanipulation/LM31/session_006/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e522cf52e8fff7994922948966b4c15e1cd4d33fa74af0fb6dda11bf9142cc18
+size 4747021

actions/locomanipulation/LM31/session_006/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6dc0306d824521cb0f9f1280866c6e1446e2a177c64d2519259830701b5faa81
-size 5491241
+oid sha256:7afa1e293accaa75da73e50f95527ef8b2239463b7c873dc7c859b6e09a8f422
+size 10236755

actions/locomanipulation/LM31/session_007/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": "LM31",
+ "instruction": "Carry the box over the low sill without stopping, then bring it back over. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 143.966767,
+   "video": "left_eye",
+   "video_t_start": 0.038757677023543824
+  }
+ ],
+ "episodes": [
+  {
+   "id": "29159233-3727-4e1c-8ad5-1cddf515870a",
+   "segment": "segment1",
+   "action": "LM31",
+   "quality": "valid",
+   "start_s": 0.96,
+   "end_s": 139.747,
+   "t_start": 0.9988,
+   "t_end": 139.7858,
+   "instruction": "Carry the box over the low sill without stopping, then bring it back over. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}

actions/locomanipulation/LM31/session_007/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d37ccf8770d200035fa96962cc3efc51434976f025129f4f34d1a344b526c6d1
+size 827890

actions/locomanipulation/LM31/session_007/meta.json

@@ -339,8 +339,8 @@
   "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": {
@@ -525,10 +525,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.659212410964774
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 13.61,
+    "offset_rotvec": [
+     0.1189,
+     0.1857,
+     -0.0882
+    ],
+    "dev_deg": {
+     "median": 3.71,
+     "p90": 8.89
+    },
+    "samples": 4214,
+    "accepted": 4153,
+    "wrist_pos_err_mm_median": 38.3,
+    "per_camera": {
+     "head": {
+      "samples": 4214,
+      "accepted": 4153,
+      "gate_deg": 30.0,
+      "offset_deg": 13.61,
+      "tier": "primary",
+      "dev_deg_median": 3.71,
+      "wrist_pos_err_mm_median": 38.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 16634,
+     "interpolated": 310,
+     "mean_hand": 332,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9803,
+    "observed_fraction_of_valid": 0.9808,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 14.78,
+     "smplx": 0.88
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.5,
+      "p90": 13.2
+     },
+     "registered": {
+      "median": 10.2,
+      "p90": 12.1
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 12.64,
+    "offset_rotvec": [
+     -0.0436,
+     -0.1468,
+     0.1589
+    ],
+    "dev_deg": {
+     "median": 4.78,
+     "p90": 11.35
+    },
+    "samples": 4263,
+    "accepted": 4108,
+    "wrist_pos_err_mm_median": 66.1,
+    "per_camera": {
+     "head": {
+      "samples": 4263,
+      "accepted": 4108,
+      "gate_deg": 30.0,
+      "offset_deg": 12.64,
+      "tier": "primary",
+      "dev_deg_median": 4.78,
+      "wrist_pos_err_mm_median": 66.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 16436,
+     "interpolated": 58,
+     "mean_hand": 782,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9543,
+    "observed_fraction_of_valid": 0.9547,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 10.02,
+     "smplx": 0.81
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 11.2,
+      "p90": 20.0
+     },
+     "registered": {
+      "median": 11.0,
+      "p90": 19.1
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:35:54.432229+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/LM31/session_007",
   "family": "locomanipulation",
   "primitive": "LM31",
   "source_session": "20260924/LM31/20260924_030523_session44"
+ },
+ "task": {
+  "primitive": "LM31",
+  "instruction": "Carry the box over the low sill without stopping, then bring it back over. Keep going until the operator says stop; one object at a time, and do not rush between trips."
  }
 }

actions/locomanipulation/LM31/session_007/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6151e0bbc148d7290c40755a67aefd94721e299e779e2f518b98bf46d1523c6
+size 5676002

actions/locomanipulation/LM31/session_007/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ec4b06efc25a1de615e119d72eade5acbe5815fce8eecabf534a878b9682d162
-size 6650838
+oid sha256:c4eda3f8cc42dcac23c15fbbc82d6ccba8296e6ca7acab39aaa07c8b795c87da
+size 12272109

actions/locomanipulation/LM31/session_008/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": "LM31",
+ "instruction": "Carry the box over the low sill without stopping, then bring it back over. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 113.966644,
+   "video": "left_eye",
+   "video_t_start": 0.03897905910277921
+  }
+ ],
+ "episodes": [
+  {
+   "id": "3afec6f9-feae-4e41-88e5-2717875bc114",
+   "segment": "segment1",
+   "action": "LM31",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 110.765,
+   "t_start": 0.039,
+   "t_end": 110.804,
+   "instruction": "Carry the box over the low sill without stopping, then bring it back over. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}

actions/locomanipulation/LM31/session_008/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:330ea1008432617b339f069179c9dfdd08a56f8b7316d020ea59089816d8286c
+size 656035