Release update 2026-11-05: new sessions, instructions, annotations (part 35)

.gitattributes

@@ -50714,3 +50714,37 @@ actions/static_manipulation/SM30/session_009/raw/sensors/robowrist_mag_left.db f
 actions/static_manipulation/SM30/session_009/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
 actions/static_manipulation/SM30/session_010/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
 actions/static_manipulation/SM30/session_010/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM30/session_010/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM30/session_010/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM30/session_010/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM30/session_010/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM30/session_010/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM30/session_010/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM30/session_010/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM31/session_006/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM31/session_006/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM31/session_006/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM31/session_006/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM31/session_006/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM31/session_006/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM31/session_006/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM31/session_006/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM31/session_006/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM31/session_007/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM31/session_007/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM31/session_007/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM31/session_007/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM31/session_007/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM31/session_007/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM31/session_007/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM31/session_007/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM31/session_007/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM31/session_008/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM31/session_008/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM31/session_008/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM31/session_008/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM31/session_008/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM31/session_008/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM31/session_008/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM31/session_008/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM31/session_008/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/static_manipulation/SM30/session_010/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:386dab190efe84a5df7a57ebced88cfd31cc1010eeda77211d76e160dbea8803
+size 1429504

actions/static_manipulation/SM30/session_010/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25157889a80898b1505ea36eca3284826560d65c4a4e2d343b130eeb99c21111
+size 1380352

actions/static_manipulation/SM30/session_010/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa2794946fd5580cfe4db4677c1bb8ec0053605b79f47561d387e27ad0f935f3
+size 372736

actions/static_manipulation/SM30/session_010/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ed20cf66d0f8274e3ed1df3f01784e5df1c4ca910c442847901e0921f754ffe
+size 1339392

actions/static_manipulation/SM30/session_010/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d2782786becb352e562c93bad371d19bf27e08c7d0521ca4f47c7dafeba5879
+size 1376256

actions/static_manipulation/SM30/session_010/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86790ed6675cb1be77803f073a61d9e3b3bccfd8878bb714898d463414ef9635
+size 360448

actions/static_manipulation/SM30/session_010/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8138b17f1e0cd6fac0b3439c620a765d7cbf1ada8b0bee2fae0b37003023744f
+size 360448

actions/static_manipulation/SM30/session_010/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:582cc164b8daf4c161545b815f52cd7c92551a1dfeb4db867efa7fbd19b91798
+size 1441930

actions/static_manipulation/SM30/session_010/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1806fbe79d1e80e754ba7c22513819992cc2b381e8c81774ff72f7f0e252dfb2
+size 184266

actions/static_manipulation/SM30/session_010/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b1cc465a264e815291675c91c145f5cd63c9bddc688b4310a6454266d7b0e1a
+size 1525504

actions/static_manipulation/SM30/session_010/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:045dcc19428d303d040cf90693af33490b81d757352aa987cff8eecb7b9cc9d3
+size 326214

actions/static_manipulation/SM30/session_010/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86159201bde3b17575f303a9428366c5b1316e494821f597e944e69e3492a225
+size 416752

actions/static_manipulation/SM30/session_010/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a08c0ea59461371bd05029f812bfb2ad36548e4c8dcfeb04e7f74fe9b2c0df6f
+size 70297755

actions/static_manipulation/SM30/session_010/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01d4e6813c7053512b719a6c88857d10439cd29ef831e477b78533cdadbb9524
+size 70247186

actions/static_manipulation/SM30/session_010/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7ac5243fbe3801f358db9716e039f70d01831f284ed372101d063a41d332541
+size 70303391

actions/static_manipulation/SM30/session_010/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1205cccd69d54e69aadd0056043544b70aa6c664b07932e94e931aa5b9bae000
+size 70342577

actions/static_manipulation/SM30/session_010/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b2626096c0ad0096d9136fee281faec3f513778d042e77509a3c0fab0f7ea19
+size 70263544

actions/static_manipulation/SM30/session_010/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b8479af399bcf641d10fcdc6404ca538b2ad2c0bb5ff51305cca2777562a002
+size 70307343

actions/static_manipulation/SM30/session_010/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48e9ffb1bbf9472abe91b2b0fa62b7bd5423ed95afb6fa2d9ae1732c89143ebe
+size 41313059

actions/static_manipulation/SM30/session_010/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42c6b65dbada0ee355519afeba9f041fe557e320887191f4383cf0b3bc4cf7b1
+size 26747715

actions/static_manipulation/SM30/session_010/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1093cb384d1635888ff7143e00401703815f165e957ccdad97f5ee13f94bc35b
+size 61063831

actions/static_manipulation/SM31/session_001/annotations.json

@@ -0,0 +1,39 @@
+{
+ "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": "SM31",
+ "instruction": "Fit the two parts together, then take them apart again. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 143.966689,
+   "video": "left_eye",
+   "video_t_start": 0.039784092285969574
+  }
+ ],
+ "episodes": [
+  {
+   "id": "f5e7e8de-03de-403d-86e3-717d95082a93",
+   "segment": "segment1",
+   "action": "SM31",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 72.277,
+   "t_start": 0.0398,
+   "t_end": 72.3168,
+   "instruction": "Fit the two parts together, then take them apart again. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
+  },
+  {
+   "id": "f71b8649-ded4-41af-9850-cc59b4229a9d",
+   "segment": "segment1",
+   "action": "SM31",
+   "quality": "valid",
+   "start_s": 72.913,
+   "end_s": 139.027,
+   "t_start": 72.9528,
+   "t_end": 139.0668,
+   "instruction": "Fit the two parts together, then take them apart again. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
+  }
+ ]
+}

actions/static_manipulation/SM31/session_001/cameras/gsi_online_calibration.json

@@ -0,0 +1,253 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.362
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.9596,
+   "gate_fail": [],
+   "held_out_px_after": 0.496,
+   "held_out_px_before": 4.619,
+   "inliers": 3265,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.489,
+    -0.2711,
+    -0.7798
+   ],
+   "split_deg": 0.0608,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.812,
+   "gate_fail": [],
+   "held_out_px_after": 0.353,
+   "held_out_px_before": 5.562,
+   "inliers": 4368,
+   "position_fitted": true,
+   "position_mm": [
+    6.4,
+    -3.85,
+    3.53
+   ],
+   "position_sigma_mm": 0.279,
+   "position_split_mm": 1.413,
+   "rotvec_deg": [
+    0.3201,
+    0.5183,
+    -1.7065
+   ],
+   "split_deg": 0.0233,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.3551,
+   "gate_fail": [],
+   "held_out_px_after": 0.513,
+   "held_out_px_before": 3.584,
+   "inliers": 1515,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.3155,
+    -0.3229,
+    0.0393
+   ],
+   "split_deg": 0.0465,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.8823,
+   "gate_fail": [],
+   "held_out_px_after": 0.321,
+   "held_out_px_before": 2.98,
+   "inliers": 4287,
+   "position_fitted": true,
+   "position_mm": [
+    9.17,
+    -5.6,
+    2.59
+   ],
+   "position_sigma_mm": 0.275,
+   "position_split_mm": 1.267,
+   "rotvec_deg": [
+    0.6117,
+    -0.5393,
+    -0.3367
+   ],
+   "split_deg": 0.0207,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.3173,
+   "gate_fail": [],
+   "held_out_px_after": 0.344,
+   "held_out_px_before": 5.415,
+   "inliers": 3769,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3357,
+    -0.0568,
+    -1.2725
+   ],
+   "split_deg": 0.0148,
+   "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": "79c2145ad594f8d77df2e5b3d83cd7528f0c6135806aaf59396febc01f3bd122",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "6445b6782710e6a04c447c2aa15bb22481fb89c3ae37042c0289309c2d1b5aab",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "adb52f79490865b2752dbad62896857ddcc2baea806cd732f7731bce3ecf0e45",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "cf42489a9dca501b5a98ed23cadca85bcb242d5794cd3d71ae295c9eab9fc6d0",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "d66e83416acb66c9",
+ "kind": "online_calibration",
+ "output_sha256": "62443191f9b79b7f5ccbf0674da2b36f4b9a736ca964c8205e901b6d40352285",
+ "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": 36.579,
+  "left_eye": 37.852,
+  "left_front": 42.941,
+  "right": 26.813,
+  "right_eye": 37.844,
+  "right_front": 42.038
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   18994643216333,
+   18995643171888,
+   18997643171888,
+   18998643171888,
+   19002643249666,
+   19003643216333,
+   19008643194111,
+   19009643227444,
+   19012643183000,
+   19013643171888,
+   19020643171888,
+   19021643171888,
+   19022643194111,
+   19028643171888,
+   19029643249666,
+   19033643227444,
+   19034643216333,
+   19035643171888,
+   19039643171888,
+   19040643227444,
+   19048643194111,
+   19049643227444,
+   19050643227444,
+   19051643171888,
+   19053643183000,
+   19054643183000,
+   19062643171888,
+   19063643171888,
+   19064643271888,
+   19070643171888,
+   19071643216333,
+   19074643216333,
+   19075643160777,
+   19077643171888,
+   19078643205222,
+   19085643216333,
+   19086643171888,
+   19087643216333,
+   19093643171888,
+   19094643260777,
+   19095643183000,
+   19096643194111,
+   19103643183000,
+   19104643205222,
+   19105643183000,
+   19109643238555,
+   19110643227444,
+   19116643183000,
+   19117643171888,
+   19120643183000,
+   19121643238555,
+   19127643205222,
+   19128643171888,
+   19129643171888
+  ]
+ },
+ "version": 1
+}

actions/static_manipulation/SM31/session_001/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:419d1dd75e1458c1fa421cf2677c926a092f1fccd64065851b63fcc8720bf105
+size 818792

actions/static_manipulation/SM31/session_001/meta.json

@@ -512,5 +512,9 @@
   "family": "static_manipulation",
   "primitive": "SM31",
   "source_session": "20260915/SM31/20260915_055753_session66"
+ },
+ "task": {
+  "primitive": "SM31",
+  "instruction": "Fit the two parts together, then take them apart again. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
  }
 }

actions/static_manipulation/SM31/session_001/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e59d5cc63faee286d63e139a6163b12c3396fea5ae5080a1c0e6e66e5082a39d
+size 5775175

actions/static_manipulation/SM31/session_002/annotations.json

@@ -0,0 +1,39 @@
+{
+ "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": "SM31",
+ "instruction": "Fit the two parts together, then take them apart again. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 143.966556,
+   "video": "left_eye",
+   "video_t_start": 0.03919901094947065
+  }
+ ],
+ "episodes": [
+  {
+   "id": "8ccfcebe-daeb-4f07-8161-efb6af9e73a0",
+   "segment": "segment1",
+   "action": "SM31",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 80.411,
+   "t_start": 0.0392,
+   "t_end": 80.4502,
+   "instruction": "Fit the two parts together, then take them apart again. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
+  },
+  {
+   "id": "d91a36f5-02fb-4ef6-82ae-6697f0c6cab4",
+   "segment": "segment1",
+   "action": "SM31",
+   "quality": "valid",
+   "start_s": 81.013,
+   "end_s": 137.827,
+   "t_start": 81.0522,
+   "t_end": 137.8662,
+   "instruction": "Fit the two parts together, then take them apart again. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
+  }
+ ]
+}

actions/static_manipulation/SM31/session_002/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bf249c87a24e75e009ede00715725b82682027f01a1ab5064ade688f3956c32
+size 820029

actions/static_manipulation/SM31/session_002/meta.json

@@ -324,8 +324,8 @@
   "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": {
@@ -558,10 +558,124 @@
   },
   "applied": 1
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 53.85,
+    "offset_rotvec": [
+     0.9197,
+     0.142,
+     0.1321
+    ],
+    "dev_deg": {
+     "median": 25.02,
+     "p90": 79.43
+    },
+    "samples": 4104,
+    "accepted": 2481,
+    "wrist_pos_err_mm_median": 14.4,
+    "per_camera": {
+     "head": {
+      "samples": 4104,
+      "accepted": 2481,
+      "gate_deg": 30.0,
+      "offset_deg": 53.85,
+      "tier": "primary",
+      "dev_deg_median": 25.02,
+      "wrist_pos_err_mm_median": 14.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10014,
+     "interpolated": 2422,
+     "mean_hand": 4848,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.7195,
+    "observed_fraction_of_valid": 0.7195,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 46.57,
+     "smplx": 1.25
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.8,
+      "p90": 16.9
+     },
+     "registered": {
+      "median": 8.4,
+      "p90": 14.8
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 30.82,
+    "offset_rotvec": [
+     0.21,
+     -0.4857,
+     0.0971
+    ],
+    "dev_deg": {
+     "median": 13.9,
+     "p90": 28.44
+    },
+    "samples": 4046,
+    "accepted": 3690,
+    "wrist_pos_err_mm_median": 27.6,
+    "per_camera": {
+     "head": {
+      "samples": 4046,
+      "accepted": 3690,
+      "gate_deg": 30.0,
+      "offset_deg": 30.82,
+      "tier": "primary",
+      "dev_deg_median": 13.9,
+      "wrist_pos_err_mm_median": 27.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14820,
+     "interpolated": 1440,
+     "mean_hand": 1024,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9408,
+    "observed_fraction_of_valid": 0.9408,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 32.62,
+     "smplx": 1.11
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 11.3,
+      "p90": 17.7
+     },
+     "registered": {
+      "median": 9.5,
+      "p90": 15.8
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:28:42.121457+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/static_manipulation/SM31/session_002",
   "family": "static_manipulation",
   "primitive": "SM31",
   "source_session": "20260928/SM31/20260928_022103_session21"
+ },
+ "task": {
+  "primitive": "SM31",
+  "instruction": "Fit the two parts together, then take them apart again. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
  }
 }

actions/static_manipulation/SM31/session_002/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03d90c3ea44f7ccf44cf87ef41d13505ba471cec2c01fb875b13e2eba193ed31
+size 5496779

actions/static_manipulation/SM31/session_002/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8545c329a79377742270c0183cc1bb22e70c06b2bb3653b77f68a5d3d09970f6
-size 6545844
+oid sha256:7f8c065f7de12cd47bb10a2a206af70b204d5692abdd4c60be13295165cd4352
+size 11530413

actions/static_manipulation/SM31/session_003/annotations.json

@@ -0,0 +1,39 @@
+{
+ "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": "SM31",
+ "instruction": "Fit the two parts together, then take them apart again. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 133.966633,
+   "video": "left_eye",
+   "video_t_start": 0.03985756212774283
+  }
+ ],
+ "episodes": [
+  {
+   "id": "a16d1661-5c5a-46c2-988c-190560756343",
+   "segment": "segment1",
+   "action": "SM31",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 68.852,
+   "t_start": 0.0399,
+   "t_end": 68.8919,
+   "instruction": "Fit the two parts together, then take them apart again. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
+  },
+  {
+   "id": "5f48c215-d9c9-4352-8359-8f65704e4f11",
+   "segment": "segment1",
+   "action": "SM31",
+   "quality": "valid",
+   "start_s": 70.523,
+   "end_s": 130.017,
+   "t_start": 70.5629,
+   "t_end": 130.0569,
+   "instruction": "Fit the two parts together, then take them apart again. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
+  }
+ ]
+}

actions/static_manipulation/SM31/session_003/cameras/gsi_online_calibration.json

@@ -0,0 +1,258 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.37
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.97,
+   "gate_fail": [],
+   "held_out_px_after": 0.551,
+   "held_out_px_before": 5.645,
+   "inliers": 2573,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.4224,
+    -0.3904,
+    -0.7811
+   ],
+   "split_deg": 0.1108,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.4797,
+   "gate_fail": [],
+   "held_out_px_after": 0.369,
+   "held_out_px_before": 7.344,
+   "inliers": 4309,
+   "position_fitted": true,
+   "position_mm": [
+    7.11,
+    -14.4,
+    7.23
+   ],
+   "position_sigma_mm": 0.177,
+   "position_split_mm": 2.516,
+   "rotvec_deg": [
+    -0.1313,
+    0.8257,
+    -2.3345
+   ],
+   "split_deg": 0.0539,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.6348,
+   "gate_fail": [],
+   "held_out_px_after": 0.63,
+   "held_out_px_before": 6.025,
+   "inliers": 2265,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.3665,
+    -0.7526,
+    -0.4886
+   ],
+   "split_deg": 0.0717,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.9999,
+   "gate_fail": [],
+   "held_out_px_after": 0.355,
+   "held_out_px_before": 2.873,
+   "inliers": 4575,
+   "position_fitted": true,
+   "position_mm": [
+    7.07,
+    -16.66,
+    7.81
+   ],
+   "position_sigma_mm": 0.184,
+   "position_split_mm": 2.88,
+   "rotvec_deg": [
+    0.1173,
+    -0.2861,
+    -0.9509
+   ],
+   "split_deg": 0.0734,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9735,
+   "gate_fail": [],
+   "held_out_px_after": 0.313,
+   "held_out_px_before": 5.846,
+   "inliers": 5640,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2463,
+    0.0057,
+    -1.9581
+   ],
+   "split_deg": 0.0106,
+   "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": "4cc5237c6b61d1d3ef076d5204f9c6fcac6c4baed1463c44cd9d1d647064fdf8",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "2ead98b3110926e5a096f6152d203d58a4546e264e3ed9db311de8bcf4a8fc07",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "9fe8e8aaa6002b4e81dc87eb334fb7f78e90b0b499c39e5452e5b08dc87d432d",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "b8b02ca03d845ceee44d969cd57a38ba0f7b109910de8677d0f0b9584b1ce312",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "c7fee63267765606",
+ "kind": "online_calibration",
+ "output_sha256": "f6aab4311b0969556fe61c5374f805641457be1fc87f14db50e2fda6a2cd6f24",
+ "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": 36.427,
+  "left_eye": 42.788,
+  "left_front": 50.268,
+  "right": 33.414,
+  "right_eye": 42.923,
+  "right_front": 49.437
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   15959720692111,
+   15960720703222,
+   15964720692111,
+   15965720692111,
+   15970720669888,
+   15971720658777,
+   15973720747666,
+   15974720692111,
+   15980720669888,
+   15981720669888,
+   15984720692111,
+   15985720669888,
+   15989720692111,
+   15990720669888,
+   15992720781000,
+   15993720758777,
+   15996720692111,
+   15997720747666,
+   15999720692111,
+   16000720781000,
+   16005720814333,
+   16006720669888,
+   16008720658777,
+   16009720692111,
+   16015720692111,
+   16016720836555,
+   16017720669888,
+   16018720814333,
+   16022720692111,
+   16023720736555,
+   16028720703222,
+   16029720658777,
+   16030720669888,
+   16031720747666,
+   16037720803222,
+   16038720658777,
+   16039720692111,
+   16045720658777,
+   16046720692111,
+   16049720658777,
+   16050720658777,
+   16054720669888,
+   16055720692111,
+   16057720814333,
+   16058720692111,
+   16063720692111,
+   16064720681000,
+   16065720714333,
+   16066720758777,
+   16071720669888,
+   16072720814333,
+   16074720669888,
+   16075720669888,
+   16078720703222,
+   16079720669888,
+   16082720692111,
+   16083720747666,
+   16087720692111,
+   16088720692111
+  ]
+ },
+ "version": 1
+}

actions/static_manipulation/SM31/session_003/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48fa1ae208d1b54a6c75121e67843dfffea7e2090a2032adf7c830ac7374e0bb
+size 766214

actions/static_manipulation/SM31/session_003/meta.json

@@ -326,8 +326,8 @@
   "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": {
@@ -508,10 +508,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.5575335497609752
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 24.71,
+    "offset_rotvec": [
+     0.3125,
+     0.2857,
+     -0.0823
+    ],
+    "dev_deg": {
+     "median": 18.62,
+     "p90": 28.94
+    },
+    "samples": 3872,
+    "accepted": 3571,
+    "wrist_pos_err_mm_median": 24.8,
+    "per_camera": {
+     "head": {
+      "samples": 3872,
+      "accepted": 3571,
+      "gate_deg": 30.0,
+      "offset_deg": 24.71,
+      "tier": "primary",
+      "dev_deg_median": 18.62,
+      "wrist_pos_err_mm_median": 24.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14387,
+     "interpolated": 1232,
+     "mean_hand": 457,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9711,
+    "observed_fraction_of_valid": 0.9716,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 28.24,
+     "smplx": 1.64
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 12.4,
+      "p90": 16.0
+     },
+     "registered": {
+      "median": 11.1,
+      "p90": 13.4
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 24.49,
+    "offset_rotvec": [
+     0.3045,
+     -0.2923,
+     0.0673
+    ],
+    "dev_deg": {
+     "median": 19.83,
+     "p90": 34.93
+    },
+    "samples": 3605,
+    "accepted": 2969,
+    "wrist_pos_err_mm_median": 28.7,
+    "per_camera": {
+     "head": {
+      "samples": 3605,
+      "accepted": 2969,
+      "gate_deg": 30.0,
+      "offset_deg": 24.49,
+      "tier": "primary",
+      "dev_deg_median": 19.83,
+      "wrist_pos_err_mm_median": 28.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11960,
+     "interpolated": 1632,
+     "mean_hand": 2484,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.8451,
+    "observed_fraction_of_valid": 0.8455,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 28.75,
+     "smplx": 1.22
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.6,
+      "p90": 7.7
+     },
+     "registered": {
+      "median": 6.5,
+      "p90": 8.6
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:18:33.008065+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/static_manipulation/SM31/session_003",
   "family": "static_manipulation",
   "primitive": "SM31",
   "source_session": "20261008/SM31/20261008_044744_session60"
+ },
+ "task": {
+  "primitive": "SM31",
+  "instruction": "Fit the two parts together, then take them apart again. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
  }
 }

actions/static_manipulation/SM31/session_003/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e6bd71e2e9fee02ad570a1774ac5be87af745fc7c29c98564520a9bd1315c91
+size 5016604

actions/static_manipulation/SM31/session_003/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1fde30dc13ff517e40a1db0935a468924461e6eed9c3df5a95fab2532d2234a6
-size 6085835
+oid sha256:edaeb2bcfcddc430ee4885fbb14f3aaf14a2f03edc0e254ac6bf1d60b79b46ae
+size 11092539

actions/static_manipulation/SM31/session_004/annotations.json

@@ -0,0 +1,39 @@
+{
+ "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": "SM31",
+ "instruction": "Fit the two parts together, then take them apart again. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 139.000056,
+   "video": "left_eye",
+   "video_t_start": 0.04017160039097205
+  }
+ ],
+ "episodes": [
+  {
+   "id": "461b12f4-120a-4633-87c0-e824ffedcf88",
+   "segment": "segment1",
+   "action": "SM31",
+   "quality": "valid",
+   "start_s": 1.143,
+   "end_s": 65.742,
+   "t_start": 1.1832,
+   "t_end": 65.7822,
+   "instruction": "Fit the two parts together, then take them apart again. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
+  },
+  {
+   "id": "b0ae643c-56b7-4015-af43-bbb4d3770ea1",
+   "segment": "segment1",
+   "action": "SM31",
+   "quality": "valid",
+   "start_s": 65.742,
+   "end_s": 133.832,
+   "t_start": 65.7822,
+   "t_end": 133.8722,
+   "instruction": "Fit the two parts together, then take them apart again. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
+  }
+ ]
+}

actions/static_manipulation/SM31/session_004/cameras/gsi_online_calibration.json

@@ -0,0 +1,255 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.374
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 2.4938,
+   "gate_fail": [],
+   "held_out_px_after": 0.461,
+   "held_out_px_before": 4.33,
+   "inliers": 3880,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.9928,
+    -1.3218,
+    0.7075
+   ],
+   "split_deg": 0.0392,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.763,
+   "gate_fail": [],
+   "held_out_px_after": 0.385,
+   "held_out_px_before": 3.897,
+   "inliers": 5234,
+   "position_fitted": true,
+   "position_mm": [
+    -3.26,
+    -18.38,
+    2.6
+   ],
+   "position_sigma_mm": 0.118,
+   "position_split_mm": 0.135,
+   "rotvec_deg": [
+    -0.0217,
+    -0.1448,
+    0.7488
+   ],
+   "split_deg": 0.0374,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.6981,
+   "gate_fail": [],
+   "held_out_px_after": 0.679,
+   "held_out_px_before": 9.889,
+   "inliers": 1828,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.231,
+    -1.1534,
+    2.7144
+   ],
+   "split_deg": 0.0926,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9686,
+   "gate_fail": [],
+   "held_out_px_after": 0.328,
+   "held_out_px_before": 4.306,
+   "inliers": 6227,
+   "position_fitted": true,
+   "position_mm": [
+    -2.06,
+    -15.54,
+    3.34
+   ],
+   "position_sigma_mm": 0.114,
+   "position_split_mm": 0.347,
+   "rotvec_deg": [
+    0.3892,
+    -0.9021,
+    1.7059
+   ],
+   "split_deg": 0.0592,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.8088,
+   "gate_fail": [],
+   "held_out_px_after": 0.368,
+   "held_out_px_before": 4.98,
+   "inliers": 5984,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.7328,
+    -0.3092,
+    -0.147
+   ],
+   "split_deg": 0.0211,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e3296774a321bb51",
+ "factory_root_name": "e3296774a321bb51",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "1d4e67f249a8e423f08a9c7e2cce9a6f0b48c59a64c0e47d186cd6cc064771be",
+   "source_sha256": "2bf43346f9825da1c051096d46ceb924252959c0c3fed4ac9c166c6096121ae0"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "ce87a896e4aa64e1422143734dd285203f890b0bd9eb960b0e087ee7bcfa2dfa",
+   "source_sha256": "b80f390816142bc598f6a58e17810083d07270f17802c79b0d33dade12e1a7ed"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "63ae06f0c96d50d2b4619008243d2995c744353a72408a29d062eab6b4d7a522",
+   "source_sha256": "55ee2a9af25410709c73762b726e1a41e5450b277090a5256571601dd5fd719b"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "1a39fcaab947fa9501cab796d718df07bd4e4b31118f90f4fe1ebdbb6bf7fec7",
+   "source_sha256": "b2fcef709086e19cb082ae12586aebd1a6fa9a92db90015c1c5a641f4588dfc7"
+  }
+ },
+ "input_fingerprint": "5dcfec80839d352d",
+ "kind": "online_calibration",
+ "output_sha256": "43a60acf1e4f9e08246337071d0d09a39e3f95c27585de49621d9596244b7155",
+ "overlap": {
+  "left-right": 0.489,
+  "left_eye-left": 0.684,
+  "left_eye-right": 0.685,
+  "left_eye-right_eye": 1.0,
+  "left_front-left": 0.466,
+  "left_front-left_eye": 0.717,
+  "left_front-right": 0.447,
+  "left_front-right_eye": 0.72,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.672,
+  "right_eye-right": 0.676,
+  "right_front-left": 0.469,
+  "right_front-left_eye": 0.746,
+  "right_front-right": 0.472,
+  "right_front-right_eye": 0.74
+ },
+ "picture_change": {
+  "left": 37.109,
+  "left_eye": 36.763,
+  "left_front": 32.772,
+  "right": 32.873,
+  "right_eye": 37.424,
+  "right_front": 30.861
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   2812831608333,
+   2813831575000,
+   2817831563888,
+   2818831563888,
+   2820831586111,
+   2821831552777,
+   2823831563888,
+   2824831586111,
+   2831831563888,
+   2832831563888,
+   2833831563888,
+   2837831597222,
+   2838831575000,
+   2844831552777,
+   2845831563888,
+   2850831652777,
+   2851831708333,
+   2854831586111,
+   2855831586111,
+   2857831563888,
+   2858831586111,
+   2863831563888,
+   2864831608333,
+   2868831586111,
+   2869831697222,
+   2872831563888,
+   2873831575000,
+   2874831708333,
+   2880831563888,
+   2881831586111,
+   2886831586111,
+   2887831563888,
+   2888831575000,
+   2893831652777,
+   2894831575000,
+   2899831697222,
+   2900831586111,
+   2903831563888,
+   2904831586111,
+   2907831563888,
+   2908831586111,
+   2910831575000,
+   2911831608333,
+   2917831586111,
+   2918831641666,
+   2922831641666,
+   2923831575000,
+   2925831563888,
+   2926831586111,
+   2928831563888,
+   2929831641666,
+   2936831641666,
+   2937831575000,
+   2938831575000,
+   2942831563888,
+   2943831563888
+  ]
+ },
+ "version": 1
+}

actions/static_manipulation/SM31/session_004/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfe277f474a079a36864e3de1af58e5ed88c487d901a22a83221e05fda754fc0
+size 784878

actions/static_manipulation/SM31/session_004/meta.json

@@ -383,8 +383,8 @@
   "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": {
@@ -523,12 +523,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 18.12,
+    "offset_rotvec": [
+     0.3036,
+     -0.0832,
+     -0.0299
+    ],
+    "dev_deg": {
+     "median": 2.27,
+     "p90": 7.57
+    },
+    "samples": 4157,
+    "accepted": 4157,
+    "wrist_pos_err_mm_median": 16.5,
+    "per_camera": {
+     "head": {
+      "samples": 4157,
+      "accepted": 4157,
+      "gate_deg": 30.0,
+      "offset_deg": 18.12,
+      "tier": "primary",
+      "dev_deg_median": 2.27,
+      "wrist_pos_err_mm_median": 16.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 16636,
+     "interpolated": 40,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9993,
+    "observed_fraction_of_valid": 0.9993,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 19.09,
+     "smplx": 0.29
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.8,
+      "p90": 7.4
+     },
+     "registered": {
+      "median": 6.2,
+      "p90": 6.8
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 15.4,
+    "offset_rotvec": [
+     0.2557,
+     -0.0711,
+     0.0426
+    ],
+    "dev_deg": {
+     "median": 3.13,
+     "p90": 8.4
+    },
+    "samples": 4109,
+    "accepted": 4102,
+    "wrist_pos_err_mm_median": 25.7,
+    "per_camera": {
+     "head": {
+      "samples": 4109,
+      "accepted": 4102,
+      "gate_deg": 30.0,
+      "offset_deg": 15.4,
+      "tier": "primary",
+      "dev_deg_median": 3.13,
+      "wrist_pos_err_mm_median": 25.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 16418,
+     "interpolated": 26,
+     "mean_hand": 244,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9854,
+    "observed_fraction_of_valid": 0.9854,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 17.14,
+     "smplx": 0.7
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 12.9,
+      "p90": 19.8
+     },
+     "registered": {
+      "median": 12.5,
+      "p90": 18.6
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:32:41.533576+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/static_manipulation/SM31/session_004",
   "family": "static_manipulation",
   "primitive": "SM31",
   "source_session": "20261019/SM31/20261019_071854_session8"
  },
+ "task": {
+  "primitive": "SM31",
+  "instruction": "Fit the two parts together, then take them apart again. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
+ },
  "objects": [
   {
    "name": "Table",

actions/static_manipulation/SM31/session_004/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f241ffbd5bc080ebd7aaeadb7b7f6bc8285d85ae0cf0041e55334b0f15c5e768
+size 5544828

actions/static_manipulation/SM31/session_004/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:97209d991c6b9d1fb0ab0a3f8a319b444ef91d6e6046daa0ae6605a41b4e8daf
-size 6220449
+oid sha256:8674233ddaca7edb7e1b46a76b726ae030a5a93e08725dbbc67018ebfe1ef45d
+size 11743164

actions/static_manipulation/SM31/session_005/cameras/gsi_online_calibration.json

@@ -0,0 +1,260 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 54,
+    "median_px": 620.76,
+    "pair": [
+     "left_front",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 12,
+  "median_px": 0.356
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.7334,
+   "gate_fail": [],
+   "held_out_px_after": 0.471,
+   "held_out_px_before": 20.643,
+   "inliers": 3567,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.2657,
+    -0.2495,
+    -1.1577
+   ],
+   "split_deg": 0.0229,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 2.3416,
+   "gate_fail": [],
+   "held_out_px_after": 0.369,
+   "held_out_px_before": 6.841,
+   "inliers": 5566,
+   "position_fitted": true,
+   "position_mm": [
+    0.98,
+    -26.46,
+    0.06
+   ],
+   "position_sigma_mm": 0.172,
+   "position_split_mm": 1.998,
+   "rotvec_deg": [
+    1.6034,
+    -0.8673,
+    1.4698
+   ],
+   "split_deg": 0.0305,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "right_front",
+    "right_eye"
+   ],
+   "delta_deg": 4.5926,
+   "gate_fail": [],
+   "held_out_px_after": 0.826,
+   "held_out_px_before": 8.117,
+   "inliers": 164,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.7934,
+    -1.2035,
+    3.441
+   ],
+   "split_deg": 0.3292,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.8182,
+   "gate_fail": [],
+   "held_out_px_after": 0.353,
+   "held_out_px_before": 3.079,
+   "inliers": 5047,
+   "position_fitted": true,
+   "position_mm": [
+    0.23,
+    -23.91,
+    -0.78
+   ],
+   "position_sigma_mm": 0.274,
+   "position_split_mm": 0.168,
+   "rotvec_deg": [
+    1.6921,
+    -1.3712,
+    1.7885
+   ],
+   "split_deg": 0.0862,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.5656,
+   "gate_fail": [],
+   "held_out_px_after": 0.338,
+   "held_out_px_before": 3.107,
+   "inliers": 3975,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2211,
+    -0.4601,
+    -0.2436
+   ],
+   "split_deg": 0.0155,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "0b2a3f8c6c6dbb29adef9480a912aaa46c5c059274f23ee2fb463ebbf70620fd",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "7aed7b9e3fea572bb36d9a453cddafc2af5aa840bac6cb6ad274235d7aacde8f",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "75cc7d1fb87491c50de4b3dc1aaff281bcede6c9db0490236cb7d17a5cc73693",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "11c710b84f642b1018334536ec489eb1b53ccdadb3a176ffd2f22aaded2df133",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "fc4cf726e28e79f9",
+ "kind": "online_calibration",
+ "output_sha256": "7f8628947c3e99e8e7bb9977154f22d5534a7d9c45ec632ccb0c4bd242741923",
+ "overlap": {
+  "left-right": 0.5,
+  "left_eye-left": 0.695,
+  "left_eye-right": 0.702,
+  "left_front-left": 0.506,
+  "left_front-left_eye": 0.692,
+  "left_front-right": 0.458,
+  "left_front-right_eye": 0.698,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.699,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.706,
+  "right_front-left": 0.49,
+  "right_front-left_eye": 0.697,
+  "right_front-right": 0.464,
+  "right_front-right_eye": 0.704
+ },
+ "picture_change": {
+  "left": 42.641,
+  "left_eye": 45.028,
+  "left_front": 47.459,
+  "right": 44.563,
+  "right_eye": 47.857,
+  "right_front": 46.888
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   2995136348666,
+   2996136437555,
+   3001136470888,
+   3002136348666,
+   3004136337555,
+   3005136348666,
+   3010136348666,
+   3011136326444,
+   3012136315333,
+   3019136326444,
+   3020136315333,
+   3021136348666,
+   3024136348666,
+   3025136404222,
+   3029136326444,
+   3030136348666,
+   3035136326444,
+   3036136348666,
+   3040136459777,
+   3041136348666,
+   3043136326444,
+   3044136359777,
+   3046136348666,
+   3047136393111,
+   3054136470888,
+   3055136482000,
+   3056136459777,
+   3060136470888,
+   3061136348666,
+   3065136348666,
+   3066136359777,
+   3071136326444,
+   3072136359777,
+   3073136326444,
+   3074136337555,
+   3079136348666,
+   3080136326444,
+   3085136348666,
+   3086136326444,
+   3087136470888,
+   3093136404222,
+   3094136348666,
+   3096136326444,
+   3097136326444,
+   3102136348666,
+   3103136337555,
+   3104136326444,
+   3111136326444,
+   3112136348666,
+   3115136326444,
+   3116136348666,
+   3117136359777,
+   3118136348666,
+   3123136326444,
+   3124136326444
+  ]
+ },
+ "version": 1
+}