Release update 2026-11-05: new sessions, instructions, annotations (part 278)

actions/locomanipulation/LM31/session_008/meta.json

@@ -340,8 +340,8 @@
   "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": {
@@ -531,10 +531,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.5878039699538665
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 11.64,
+    "offset_rotvec": [
+     0.1369,
+     0.1231,
+     -0.086
+    ],
+    "dev_deg": {
+     "median": 3.5,
+     "p90": 7.43
+    },
+    "samples": 3341,
+    "accepted": 3335,
+    "wrist_pos_err_mm_median": 34.3,
+    "per_camera": {
+     "head": {
+      "samples": 3341,
+      "accepted": 3335,
+      "gate_deg": 30.0,
+      "offset_deg": 11.64,
+      "tier": "primary",
+      "dev_deg_median": 3.5,
+      "wrist_pos_err_mm_median": 34.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13344,
+     "interpolated": 16,
+     "mean_hand": 324,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9763,
+    "observed_fraction_of_valid": 0.9763,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 11.83,
+     "smplx": 0.8
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.5,
+      "p90": 13.5
+     },
+     "registered": {
+      "median": 9.2,
+      "p90": 12.9
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 13.22,
+    "offset_rotvec": [
+     -0.0444,
+     -0.1343,
+     0.1823
+    ],
+    "dev_deg": {
+     "median": 4.52,
+     "p90": 9.81
+    },
+    "samples": 3382,
+    "accepted": 3275,
+    "wrist_pos_err_mm_median": 71.7,
+    "per_camera": {
+     "head": {
+      "samples": 3382,
+      "accepted": 3275,
+      "gate_deg": 30.0,
+      "offset_deg": 13.22,
+      "tier": "primary",
+      "dev_deg_median": 4.52,
+      "wrist_pos_err_mm_median": 71.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13100,
+     "interpolated": 0,
+     "mean_hand": 584,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9573,
+    "observed_fraction_of_valid": 0.9573,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 9.29,
+     "smplx": 1.05
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 13.7,
+      "p90": 22.3
+     },
+     "registered": {
+      "median": 13.5,
+      "p90": 21.5
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:35:55.419732+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_008",
   "family": "locomanipulation",
   "primitive": "LM31",
   "source_session": "20260924/LM31/20260924_030757_session45"
+ },
+ "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_008/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff85144a6dc82019579ac5ff15f1de6eeddc8f760bfef6d682bb98a9f0b8226e
+size 4506799

actions/locomanipulation/LM31/session_008/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:76f2cf42030f5ee514abfe93ae65e1b9db138cdfeabc54b15730c75974008d2b
-size 5273474
+oid sha256:23d3f74969fb28accb4ff200585fced8cca112aacbff895ffa622d612f381c47
+size 9727702

actions/locomanipulation/LM31/session_009/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": 113.966533,
+   "video": "left_eye",
+   "video_t_start": 0.039054897941520395
+  }
+ ],
+ "episodes": [
+  {
+   "id": "a7019dee-9378-4228-a028-95ff04878773",
+   "segment": "segment1",
+   "action": "LM31",
+   "quality": "valid",
+   "start_s": 1.28,
+   "end_s": 107.862,
+   "t_start": 1.3191,
+   "t_end": 107.9011,
+   "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_009/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb26547d564d833a0b53eb20836b3575b643f4396769a11e3356a2685cc17069
+size 655498

actions/locomanipulation/LM31/session_009/meta.json

@@ -340,8 +340,8 @@
   "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": {
@@ -531,10 +531,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.5750498846192179
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 17.24,
+    "offset_rotvec": [
+     0.2509,
+     0.1293,
+     -0.1042
+    ],
+    "dev_deg": {
+     "median": 3.74,
+     "p90": 8.31
+    },
+    "samples": 3345,
+    "accepted": 3316,
+    "wrist_pos_err_mm_median": 36.6,
+    "per_camera": {
+     "head": {
+      "samples": 3345,
+      "accepted": 3316,
+      "gate_deg": 30.0,
+      "offset_deg": 17.24,
+      "tier": "primary",
+      "dev_deg_median": 3.74,
+      "wrist_pos_err_mm_median": 36.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13276,
+     "interpolated": 156,
+     "mean_hand": 252,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9816,
+    "observed_fraction_of_valid": 0.9816,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 17.69,
+     "smplx": 1.44
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 12.8,
+      "p90": 15.2
+     },
+     "registered": {
+      "median": 12.8,
+      "p90": 14.3
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 13.33,
+    "offset_rotvec": [
+     0.0387,
+     -0.1399,
+     0.1818
+    ],
+    "dev_deg": {
+     "median": 4.82,
+     "p90": 10.59
+    },
+    "samples": 3364,
+    "accepted": 3175,
+    "wrist_pos_err_mm_median": 65.1,
+    "per_camera": {
+     "head": {
+      "samples": 3364,
+      "accepted": 3175,
+      "gate_deg": 30.0,
+      "offset_deg": 13.33,
+      "tier": "primary",
+      "dev_deg_median": 4.82,
+      "wrist_pos_err_mm_median": 65.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12700,
+     "interpolated": 0,
+     "mean_hand": 984,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9281,
+    "observed_fraction_of_valid": 0.9281,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 11.43,
+     "smplx": 0.81
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.7,
+      "p90": 20.8
+     },
+     "registered": {
+      "median": 10.3,
+      "p90": 20.0
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:35:55.641304+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_009",
   "family": "locomanipulation",
   "primitive": "LM31",
   "source_session": "20260924/LM31/20260924_031005_session46"
+ },
+ "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_009/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03efb9b636b54d3e7dac67039786a5a66898c2211fa210943afdbf212de0dff9
+size 4501496

actions/locomanipulation/LM31/session_009/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:07c86490453a0b330463ae12fa1b204f2675662c6bfe2372ac181988c2533f8a
-size 5275755
+oid sha256:d74498b32e288791c101b76ff311e244990eee5b8d178c67ba2134a70dc094cb
+size 9670839

actions/locomanipulation/LM31/session_010/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": 123.9667,
+   "video": "left_eye",
+   "video_t_start": 0.04071628517385495
+  }
+ ],
+ "episodes": [
+  {
+   "id": "635658b8-449a-45d3-8e2f-2f2143464d3e",
+   "segment": "segment1",
+   "action": "LM31",
+   "quality": "valid",
+   "start_s": 2.456,
+   "end_s": 118.065,
+   "t_start": 2.4967,
+   "t_end": 118.1057,
+   "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_010/cameras/gsi_online_calibration.json

@@ -0,0 +1,255 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.405
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.0785,
+   "gate_fail": [],
+   "held_out_px_after": 0.583,
+   "held_out_px_before": 5.164,
+   "inliers": 1759,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.4207,
+    -0.5814,
+    -0.8051
+   ],
+   "split_deg": 0.0495,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.2667,
+   "gate_fail": [],
+   "held_out_px_after": 0.393,
+   "held_out_px_before": 6.183,
+   "inliers": 2743,
+   "position_fitted": true,
+   "position_mm": [
+    7.73,
+    -19.15,
+    2.98
+   ],
+   "position_sigma_mm": 0.173,
+   "position_split_mm": 0.678,
+   "rotvec_deg": [
+    -0.1803,
+    0.6782,
+    -2.1553
+   ],
+   "split_deg": 0.0315,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.2546,
+   "gate_fail": [],
+   "held_out_px_after": 0.518,
+   "held_out_px_before": 4.313,
+   "inliers": 1668,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.0944,
+    -0.4027,
+    -0.4626
+   ],
+   "split_deg": 0.0719,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.9235,
+   "gate_fail": [],
+   "held_out_px_after": 0.398,
+   "held_out_px_before": 3.14,
+   "inliers": 2551,
+   "position_fitted": true,
+   "position_mm": [
+    7.47,
+    -21.22,
+    4.1
+   ],
+   "position_sigma_mm": 0.184,
+   "position_split_mm": 1.762,
+   "rotvec_deg": [
+    0.0283,
+    -0.4368,
+    -0.8132
+   ],
+   "split_deg": 0.0143,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.0547,
+   "gate_fail": [],
+   "held_out_px_after": 0.387,
+   "held_out_px_before": 7.005,
+   "inliers": 3321,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2327,
+    -0.1698,
+    -2.0344
+   ],
+   "split_deg": 0.0252,
+   "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": "ebb0068311a5aaedf42ba8fd16a591899c25807466a56ab8b3849074fa860eeb",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "a452a57195b5055bb94c8c4da3f753c5677deaf03d32c7274208222515a09034",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "4c8ee7510ebc5054eedda54912b5c937909151e25e00fb9333241c41bbf1e092",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "9a5458fa6592007dd032509e93cb6eed3ba53d4558aaf00637416d323eda0513",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "48961913ca331e82",
+ "kind": "online_calibration",
+ "output_sha256": "e8fa2a63b4b5e81fa0b9e262b6feba91e58016df1324019e3bc67539efa72cc4",
+ "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": 38.38,
+  "left_eye": 29.615,
+  "left_front": 36.645,
+  "right": 34.97,
+  "right_eye": 29.012,
+  "right_front": 37.422
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   30998014816777,
+   30999014805666,
+   31005014805666,
+   31006014839000,
+   31007014805666,
+   31013014805666,
+   31014014805666,
+   31015014827888,
+   31016014972333,
+   31019014805666,
+   31020014827888,
+   31024014827888,
+   31025014961222,
+   31027014805666,
+   31028014839000,
+   31033014894555,
+   31034014961222,
+   31037014827888,
+   31038014850111,
+   31042014805666,
+   31043014972333,
+   31044014983444,
+   31050014816777,
+   31051014805666,
+   31053014805666,
+   31054014816777,
+   31057014805666,
+   31058014916777,
+   31059014816777,
+   31065014805666,
+   31066014850111,
+   31067014805666,
+   31072014894555,
+   31073014827888,
+   31074014839000,
+   31075014805666,
+   31080014839000,
+   31081014827888,
+   31082014839000,
+   31083014827888,
+   31089014805666,
+   31090014816777,
+   31091014816777,
+   31092014816777,
+   31096014816777,
+   31097014805666,
+   31101014939000,
+   31102014805666,
+   31103014816777,
+   31104014894555,
+   31109014827888,
+   31110014805666,
+   31111014827888,
+   31112014827888,
+   31116014972333,
+   31117014961222
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM31/session_010/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2410bda08a4f719eb22447aa94f53cce55f24100a5e56de7701e0fbc2c7d5402
+size 715450

actions/locomanipulation/LM31/session_010/meta.json

@@ -341,8 +341,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -533,10 +533,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.8092967442474148
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 24.88,
+    "offset_rotvec": [
+     0.4271,
+     -0.0787,
+     -0.0027
+    ],
+    "dev_deg": {
+     "median": 15.7,
+     "p90": 28.64
+    },
+    "samples": 3623,
+    "accepted": 3314,
+    "wrist_pos_err_mm_median": 28.1,
+    "per_camera": {
+     "head": {
+      "samples": 3623,
+      "accepted": 3314,
+      "gate_deg": 30.0,
+      "offset_deg": 24.88,
+      "tier": "primary",
+      "dev_deg_median": 15.7,
+      "wrist_pos_err_mm_median": 28.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13423,
+     "interpolated": 1280,
+     "mean_hand": 180,
+     "no_body_fit": 1
+    },
+    "observed_fraction": 0.9878,
+    "observed_fraction_of_valid": 0.9879,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 25.19,
+     "smplx": 1.83
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.4,
+      "p90": 8.0
+     },
+     "registered": {
+      "median": 6.5,
+      "p90": 7.7
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 15.53,
+    "offset_rotvec": [
+     0.2501,
+     -0.0792,
+     -0.0679
+    ],
+    "dev_deg": {
+     "median": 10.14,
+     "p90": 22.25
+    },
+    "samples": 3442,
+    "accepted": 3354,
+    "wrist_pos_err_mm_median": 37.4,
+    "per_camera": {
+     "head": {
+      "samples": 3442,
+      "accepted": 3354,
+      "gate_deg": 30.0,
+      "offset_deg": 15.53,
+      "tier": "primary",
+      "dev_deg_median": 10.14,
+      "wrist_pos_err_mm_median": 37.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13579,
+     "interpolated": 1276,
+     "mean_hand": 28,
+     "no_body_fit": 1
+    },
+    "observed_fraction": 0.9981,
+    "observed_fraction_of_valid": 0.9981,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 16.03,
+     "smplx": 1.49
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.9,
+      "p90": 12.1
+     },
+     "registered": {
+      "median": 6.9,
+      "p90": 10.0
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:35:56.542101+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_010",
   "family": "locomanipulation",
   "primitive": "LM31",
   "source_session": "20260924/LM31/20260924_090031_session122"
+ },
+ "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_010/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca2aea7baa9b2470567be23f33906382b68ec3ea6f62ed847fce60531e35858b
+size 4799934

actions/locomanipulation/LM31/session_010/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a3226c6386a709a338779db2bbb73631d4e899ddd9211e933a61140e0b7bd98b
-size 5735865
+oid sha256:a8c3321dcab37d27cd11d62327998a3e44429f7a89e351db4d46b72407a13702
+size 10712408

actions/locomanipulation/LM31/session_011/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": 123.966689,
+   "video": "left_eye",
+   "video_t_start": 0.08292274913984922
+  }
+ ],
+ "episodes": [
+  {
+   "id": "09483957-39f8-4fad-98b4-788c1de3631c",
+   "segment": "segment1",
+   "action": "LM31",
+   "quality": "valid",
+   "start_s": 1.497,
+   "end_s": 117.377,
+   "t_start": 1.5799,
+   "t_end": 117.4599,
+   "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_011/cameras/gsi_online_calibration.json

@@ -0,0 +1,264 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 35,
+    "median_px": 129.57,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.429
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.0604,
+   "gate_fail": [],
+   "held_out_px_after": 0.652,
+   "held_out_px_before": 5.336,
+   "inliers": 2076,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.4397,
+    -0.5568,
+    -0.7881
+   ],
+   "split_deg": 0.0538,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.2333,
+   "gate_fail": [],
+   "held_out_px_after": 0.398,
+   "held_out_px_before": 5.818,
+   "inliers": 3063,
+   "position_fitted": true,
+   "position_mm": [
+    7.98,
+    -18.09,
+    3.1
+   ],
+   "position_sigma_mm": 0.182,
+   "position_split_mm": 1.015,
+   "rotvec_deg": [
+    -0.1207,
+    0.6368,
+    -2.1372
+   ],
+   "split_deg": 0.0638,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.3354,
+   "gate_fail": [],
+   "held_out_px_after": 0.529,
+   "held_out_px_before": 3.698,
+   "inliers": 1845,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.1674,
+    -0.4294,
+    -0.4858
+   ],
+   "split_deg": 0.1413,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.9406,
+   "gate_fail": [],
+   "held_out_px_after": 0.384,
+   "held_out_px_before": 3.021,
+   "inliers": 3029,
+   "position_fitted": true,
+   "position_mm": [
+    7.66,
+    -20.92,
+    3.87
+   ],
+   "position_sigma_mm": 0.169,
+   "position_split_mm": 0.7,
+   "rotvec_deg": [
+    0.036,
+    -0.4536,
+    -0.8232
+   ],
+   "split_deg": 0.0659,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.0274,
+   "gate_fail": [],
+   "held_out_px_after": 0.393,
+   "held_out_px_before": 7.185,
+   "inliers": 3141,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2542,
+    -0.1585,
+    -2.0051
+   ],
+   "split_deg": 0.0267,
+   "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": "bfa5c19c549eae42e782c4c72e63718819dd9d9769ca3a80f75801f02bf7a15f",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "7d80d8c9db58d3f4780960020026b9f27b94bc4852b2f7a67b5d974738b0a909",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "1fd0add724eb3852ad8c4af801599e39f66ade9eb2120c5a63c7a49b668c56c4",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "edbef0d8ec811f705e32310c658d3fdd9999b18011c898e4537fbb160f38f49c",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "1cfba1c5329718b9",
+ "kind": "online_calibration",
+ "output_sha256": "b1196ef6d12bb396af966c23075e4923c5642069c695a4ea859eef659287165b",
+ "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": 42.332,
+  "left_eye": 31.828,
+  "left_front": 37.692,
+  "right": 39.304,
+  "right_eye": 33.798,
+  "right_front": 38.121
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   31135787423777,
+   31136787423777,
+   31142787457111,
+   31143787412666,
+   31144787457111,
+   31145787446000,
+   31150787446000,
+   31151787423777,
+   31152787457111,
+   31157787423777,
+   31158787446000,
+   31159787412666,
+   31160787434888,
+   31165787457111,
+   31166787412666,
+   31168787434888,
+   31169787412666,
+   31174787412666,
+   31175787446000,
+   31176787457111,
+   31180787412666,
+   31181787468222,
+   31183787423777,
+   31184787423777,
+   31188787423777,
+   31189787423777,
+   31191787423777,
+   31192787423777,
+   31197787468222,
+   31198787423777,
+   31199787457111,
+   31200787446000,
+   31204787423777,
+   31205787434888,
+   31207787512666,
+   31208787457111,
+   31212787423777,
+   31213787434888,
+   31218787446000,
+   31219787446000,
+   31220787423777,
+   31221787434888,
+   31226787446000,
+   31227787457111,
+   31228787412666,
+   31233787457111,
+   31234787446000,
+   31235787423777,
+   31236787423777,
+   31240787423777,
+   31241787446000,
+   31245787446000,
+   31246787446000,
+   31250787457111,
+   31251787423777,
+   31252787434888
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM31/session_011/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:620f3fc605bb3df329b331968730dc5bfec442c960d5ce44e789d96470f88868
+size 728181

actions/locomanipulation/LM31/session_011/meta.json

@@ -341,8 +341,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -532,10 +532,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.9330828932796085
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 28.34,
+    "offset_rotvec": [
+     0.4797,
+     -0.1188,
+     0.0185
+    ],
+    "dev_deg": {
+     "median": 15.79,
+     "p90": 32.26
+    },
+    "samples": 3591,
+    "accepted": 3178,
+    "wrist_pos_err_mm_median": 26.7,
+    "per_camera": {
+     "head": {
+      "samples": 3591,
+      "accepted": 3178,
+      "gate_deg": 30.0,
+      "offset_deg": 28.34,
+      "tier": "primary",
+      "dev_deg_median": 15.79,
+      "wrist_pos_err_mm_median": 26.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12831,
+     "interpolated": 1269,
+     "mean_hand": 774,
+     "no_body_fit": 10
+    },
+    "observed_fraction": 0.9473,
+    "observed_fraction_of_valid": 0.948,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 27.26,
+     "smplx": 2.29
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.9,
+      "p90": 8.0
+     },
+     "registered": {
+      "median": 5.1,
+      "p90": 7.2
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 19.94,
+    "offset_rotvec": [
+     0.3309,
+     -0.0221,
+     -0.1054
+    ],
+    "dev_deg": {
+     "median": 9.95,
+     "p90": 24.76
+    },
+    "samples": 3398,
+    "accepted": 3177,
+    "wrist_pos_err_mm_median": 47.7,
+    "per_camera": {
+     "head": {
+      "samples": 3398,
+      "accepted": 3177,
+      "gate_deg": 30.0,
+      "offset_deg": 19.94,
+      "tier": "primary",
+      "dev_deg_median": 9.95,
+      "wrist_pos_err_mm_median": 47.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12855,
+     "interpolated": 1501,
+     "mean_hand": 518,
+     "no_body_fit": 10
+    },
+    "observed_fraction": 0.9645,
+    "observed_fraction_of_valid": 0.9652,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 17.95,
+     "smplx": 3.19
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.8,
+      "p90": 7.4
+     },
+     "registered": {
+      "median": 6.2,
+      "p90": 8.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:35:54.039299+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_011",
   "family": "locomanipulation",
   "primitive": "LM31",
   "source_session": "20260924/LM31/20260924_090249_session123"
+ },
+ "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_011/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63b19ac66f4f95bf1983a234ff1fcf9606969683385b5732175e15d472e0904b
+size 4775717

actions/locomanipulation/LM31/session_011/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2fc35c790c8dc7c8d71ccf056f260dd19e8ee7ae84411a89167e7ab6d9a84985
-size 5737403
+oid sha256:cf4aa75d91280199997a34abc9c4e32aa7d67c4284c81e703d8cd7591a6f27c8
+size 10575943

actions/locomanipulation/LM31/session_012/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": 128.966644,
+   "video": "left_eye",
+   "video_t_start": 0.04104623371103333
+  }
+ ],
+ "episodes": [
+  {
+   "id": "0e3d47a4-7cbd-4244-a329-bf629811df65",
+   "segment": "segment1",
+   "action": "LM31",
+   "quality": "valid",
+   "start_s": 1.544,
+   "end_s": 122.642,
+   "t_start": 1.585,
+   "t_end": 122.683,
+   "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_012/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1162eece910b1abae1cbd1d2dc127bcdeb5bc24822abe0a461734df00aa2d42
+size 743696

actions/locomanipulation/LM31/session_012/meta.json

@@ -338,8 +338,8 @@
   "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": {
@@ -524,10 +524,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.7270046980580874
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 23.53,
+    "offset_rotvec": [
+     0.4031,
+     -0.0786,
+     -0.0014
+    ],
+    "dev_deg": {
+     "median": 13.6,
+     "p90": 31.4
+    },
+    "samples": 3675,
+    "accepted": 3267,
+    "wrist_pos_err_mm_median": 44.8,
+    "per_camera": {
+     "head": {
+      "samples": 3675,
+      "accepted": 3267,
+      "gate_deg": 30.0,
+      "offset_deg": 23.53,
+      "tier": "primary",
+      "dev_deg_median": 13.6,
+      "wrist_pos_err_mm_median": 44.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13175,
+     "interpolated": 1504,
+     "mean_hand": 793,
+     "no_body_fit": 12
+    },
+    "observed_fraction": 0.948,
+    "observed_fraction_of_valid": 0.9487,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 23.62,
+     "smplx": 2.16
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.1,
+      "p90": 10.0
+     },
+     "registered": {
+      "median": 6.5,
+      "p90": 8.9
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 15.11,
+    "offset_rotvec": [
+     0.2331,
+     -0.0209,
+     -0.1217
+    ],
+    "dev_deg": {
+     "median": 10.71,
+     "p90": 28.51
+    },
+    "samples": 3676,
+    "accepted": 3390,
+    "wrist_pos_err_mm_median": 69.9,
+    "per_camera": {
+     "head": {
+      "samples": 3676,
+      "accepted": 3390,
+      "gate_deg": 30.0,
+      "offset_deg": 15.11,
+      "tier": "primary",
+      "dev_deg_median": 10.71,
+      "wrist_pos_err_mm_median": 69.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13705,
+     "interpolated": 1619,
+     "mean_hand": 148,
+     "no_body_fit": 12
+    },
+    "observed_fraction": 0.9897,
+    "observed_fraction_of_valid": 0.9904,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.21,
+     "smplx": 2.98
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.3,
+      "p90": 11.2
+     },
+     "registered": {
+      "median": 7.2,
+      "p90": 12.6
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:35:56.594695+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_012",
   "family": "locomanipulation",
   "primitive": "LM31",
   "source_session": "20260924/LM31/20260924_090711_session124"
+ },
+ "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_012/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49cc2a41b6101611dde2495342ffb3856e2a9c28ddeb52be8001498a5afca18f
+size 4998903

actions/locomanipulation/LM31/session_012/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:31b3946e187b9dceae39663eef3e0e60364962ad1a67ccad618abd64631eaaa6
-size 5964883
+oid sha256:b872c1d664b1be92771ce32b25b6f892005d9130cb82bd14abf35eddaf86ce04
+size 11058646

actions/locomanipulation/LM31/session_013/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": 132.8999,
+   "video": "left_eye",
+   "video_t_start": 0.03948298295185532
+  }
+ ],
+ "episodes": [
+  {
+   "id": "f9c9a775-b215-4b77-9c79-70030cd7e498",
+   "segment": "segment1",
+   "action": "LM31",
+   "quality": "valid",
+   "start_s": 1.649,
+   "end_s": 130.063,
+   "t_start": 1.6885,
+   "t_end": 130.1025,
+   "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_013/cameras/gsi_online_calibration.json

@@ -0,0 +1,257 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.408
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 2.3758,
+   "gate_fail": [],
+   "held_out_px_after": 0.492,
+   "held_out_px_before": 9.91,
+   "inliers": 2590,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.8386,
+    -1.3362,
+    0.6917
+   ],
+   "split_deg": 0.017,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.7737,
+   "gate_fail": [],
+   "held_out_px_after": 0.461,
+   "held_out_px_before": 3.842,
+   "inliers": 2395,
+   "position_fitted": true,
+   "position_mm": [
+    1.75,
+    -12.1,
+    4.05
+   ],
+   "position_sigma_mm": 0.265,
+   "position_split_mm": 1.447,
+   "rotvec_deg": [
+    0.0437,
+    -0.2613,
+    0.7269
+   ],
+   "split_deg": 0.026,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 3.4922,
+   "gate_fail": [],
+   "held_out_px_after": 0.517,
+   "held_out_px_before": 9.598,
+   "inliers": 1684,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.0209,
+    -0.9355,
+    2.69
+   ],
+   "split_deg": 0.0859,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9759,
+   "gate_fail": [],
+   "held_out_px_after": 0.358,
+   "held_out_px_before": 4.573,
+   "inliers": 3610,
+   "position_fitted": true,
+   "position_mm": [
+    3.49,
+    -11.25,
+    3.76
+   ],
+   "position_sigma_mm": 0.197,
+   "position_split_mm": 2.118,
+   "rotvec_deg": [
+    0.4993,
+    -0.8946,
+    1.6896
+   ],
+   "split_deg": 0.0264,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.8707,
+   "gate_fail": [],
+   "held_out_px_after": 0.396,
+   "held_out_px_before": 5.293,
+   "inliers": 5543,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.7978,
+    -0.2817,
+    -0.2054
+   ],
+   "split_deg": 0.0449,
+   "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": "fa6f5613b4384aac29db03c781446cae57019827540b164cae60742efa51d06f",
+   "source_sha256": "2bf43346f9825da1c051096d46ceb924252959c0c3fed4ac9c166c6096121ae0"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "cf60ea3f7feecd65acd53ca172408eb57d04f1086f776a0bf8815f2b1fe2cf8b",
+   "source_sha256": "b80f390816142bc598f6a58e17810083d07270f17802c79b0d33dade12e1a7ed"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "29f7f3791fb42ca61d8d48b48afe5ce8b681dcdc881b0071b529d9986fcb4642",
+   "source_sha256": "55ee2a9af25410709c73762b726e1a41e5450b277090a5256571601dd5fd719b"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "37665dc704960bf41126fa95f35a5dec063d316490dcf92144dbe7c2d4732249",
+   "source_sha256": "b2fcef709086e19cb082ae12586aebd1a6fa9a92db90015c1c5a641f4588dfc7"
+  }
+ },
+ "input_fingerprint": "e84ec57ee9ceee14",
+ "kind": "online_calibration",
+ "output_sha256": "16c7a344d4988c92341114b06cb90d9f69b490e8292cbb5ff202a3946f902ca3",
+ "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": 31.639,
+  "left_eye": 30.911,
+  "left_front": 35.794,
+  "right": 31.696,
+  "right_eye": 28.431,
+  "right_front": 35.127
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   19616278182555,
+   19617278171444,
+   19618278260333,
+   19619278204777,
+   19626278127000,
+   19627278138111,
+   19628278127000,
+   19631278127000,
+   19632278127000,
+   19635278149222,
+   19636278149222,
+   19640278127000,
+   19641278149222,
+   19647278127000,
+   19648278271444,
+   19651278149222,
+   19652278149222,
+   19656278138111,
+   19657278138111,
+   19658278138111,
+   19662278127000,
+   19663278138111,
+   19668278204777,
+   19669278138111,
+   19672278138111,
+   19673278138111,
+   19674278204777,
+   19675278138111,
+   19682278149222,
+   19683278127000,
+   19684278160333,
+   19690278193666,
+   19691278138111,
+   19694278160333,
+   19695278204777,
+   19696278149222,
+   19697278171444,
+   19700278215888,
+   19701278204777,
+   19704278249222,
+   19705278149222,
+   19710278127000,
+   19711278127000,
+   19715278260333,
+   19716278149222,
+   19721278149222,
+   19722278127000,
+   19723278127000,
+   19726278149222,
+   19727278193666,
+   19732278271444,
+   19733278171444,
+   19735278138111,
+   19736278204777,
+   19741278127000,
+   19742278127000
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM31/session_013/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c253d6ce369d3efc6532f3bbe9a6cea1bade856a65f97ff901e64b450bc76fef
+size 764810

actions/locomanipulation/LM31/session_013/meta.json

@@ -389,8 +389,8 @@
   "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": {
@@ -529,12 +529,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 30.07,
+    "offset_rotvec": [
+     0.4537,
+     0.0334,
+     0.2617
+    ],
+    "dev_deg": {
+     "median": 16.47,
+     "p90": 23.7
+    },
+    "samples": 3899,
+    "accepted": 3826,
+    "wrist_pos_err_mm_median": 61.1,
+    "per_camera": {
+     "head": {
+      "samples": 3899,
+      "accepted": 3826,
+      "gate_deg": 30.0,
+      "offset_deg": 30.07,
+      "tier": "primary",
+      "dev_deg_median": 16.47,
+      "wrist_pos_err_mm_median": 61.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15350,
+     "interpolated": 446,
+     "mean_hand": 156,
+     "no_body_fit": 4
+    },
+    "observed_fraction": 0.99,
+    "observed_fraction_of_valid": 0.9902,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 22.52,
+     "smplx": 0.82
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.6,
+      "p90": 8.5
+     },
+     "registered": {
+      "median": 6.7,
+      "p90": 7.6
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 34.96,
+    "offset_rotvec": [
+     0.3155,
+     -0.5163,
+     -0.0784
+    ],
+    "dev_deg": {
+     "median": 7.35,
+     "p90": 12.92
+    },
+    "samples": 3960,
+    "accepted": 3927,
+    "wrist_pos_err_mm_median": 50.6,
+    "per_camera": {
+     "head": {
+      "samples": 3960,
+      "accepted": 3927,
+      "gate_deg": 30.0,
+      "offset_deg": 34.96,
+      "tier": "primary",
+      "dev_deg_median": 7.35,
+      "wrist_pos_err_mm_median": 50.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15740,
+     "interpolated": 204,
+     "mean_hand": 8,
+     "no_body_fit": 4
+    },
+    "observed_fraction": 0.9992,
+    "observed_fraction_of_valid": 0.9995,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 33.19,
+     "smplx": 0.49
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 12.5,
+      "p90": 21.3
+     },
+     "registered": {
+      "median": 12.4,
+      "p90": 20.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:48:46.320149+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_013",
   "family": "locomanipulation",
   "primitive": "LM31",
   "source_session": "20261016/LM31/20261016_055718_session84"
  },
+ "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."
+ },
  "objects": [
   {
    "name": "BigBox",

actions/locomanipulation/LM31/session_013/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5cbfedb66ebc9ffa7cc9aa5bab1cbd9c5ac8d8b2dd6e7954618f43f4c283754
+size 5267249