Release update 2026-11-05: new sessions, instructions, annotations (part 256)

actions/locomanipulation/LM29/session_001/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c06a38765baee4753b4758feadda41e95f07126e0539f22763b4db5ed09b0217
+size 4251581

actions/locomanipulation/LM29/session_001/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f3755f47f174455c50273bbf9b24734a1dcd21cc3c8da9580aaf85f6975582c7
-size 5064795
+oid sha256:3f0ae877d37ca5b72f7b7ed667a26cb1224115042bd886e24d9233b6d0c8724a
+size 9364929

actions/locomanipulation/LM29/session_002/annotations.json

@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "LM29",
+ "instruction": "Carry the box up onto the platform, across it, and down the other side, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 123.966722,
+   "video": "left_eye",
+   "video_t_start": 0.038867237516804654
+  }
+ ],
+ "episodes": [
+  {
+   "id": "0ed6d458-7b57-4797-ac73-51482ac9cd2f",
+   "segment": "segment1",
+   "action": "LM29",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 118.474,
+   "t_start": 0.0389,
+   "t_end": 118.5129,
+   "instruction": "Carry the box up onto the platform, across it, and down the other side, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}

actions/locomanipulation/LM29/session_002/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6c6d656e6eb5a4763fb6cf8d675428b984b96c2de2ba7140ec311f0b174c707
+size 714349

actions/locomanipulation/LM29/session_002/meta.json

@@ -327,8 +327,8 @@
   "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": {
@@ -518,10 +518,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.3022667768058642
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 23.24,
+    "offset_rotvec": [
+     -0.1803,
+     0.3588,
+     -0.0571
+    ],
+    "dev_deg": {
+     "median": 5.61,
+     "p90": 14.05
+    },
+    "samples": 3711,
+    "accepted": 3581,
+    "wrist_pos_err_mm_median": 56.3,
+    "per_camera": {
+     "head": {
+      "samples": 3711,
+      "accepted": 3581,
+      "gate_deg": 30.0,
+      "offset_deg": 23.24,
+      "tier": "primary",
+      "dev_deg_median": 5.61,
+      "wrist_pos_err_mm_median": 56.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14340,
+     "interpolated": 224,
+     "mean_hand": 320,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9785,
+    "observed_fraction_of_valid": 0.9785,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 22.98,
+     "smplx": 0.34
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.6,
+      "p90": 15.6
+     },
+     "registered": {
+      "median": 11.4,
+      "p90": 15.3
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 24.9,
+    "offset_rotvec": [
+     -0.0988,
+     -0.377,
+     -0.1921
+    ],
+    "dev_deg": {
+     "median": 3.56,
+     "p90": 7.53
+    },
+    "samples": 3691,
+    "accepted": 3663,
+    "wrist_pos_err_mm_median": 69.5,
+    "per_camera": {
+     "head": {
+      "samples": 3691,
+      "accepted": 3663,
+      "gate_deg": 30.0,
+      "offset_deg": 24.9,
+      "tier": "primary",
+      "dev_deg_median": 3.56,
+      "wrist_pos_err_mm_median": 69.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14656,
+     "interpolated": 128,
+     "mean_hand": 100,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9933,
+    "observed_fraction_of_valid": 0.9933,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 22.54,
+     "smplx": 0.4
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.1,
+      "p90": 12.7
+     },
+     "registered": {
+      "median": 8.8,
+      "p90": 12.1
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T23:00:27.157705+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/LM29/session_002",
   "family": "locomanipulation",
   "primitive": "LM29",
   "source_session": "20260918/LM29/20260918_093929_session71"
+ },
+ "task": {
+  "primitive": "LM29",
+  "instruction": "Carry the box up onto the platform, across it, and down the other side, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
  }
 }

actions/locomanipulation/LM29/session_002/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:051be579125f01a6acab0d68de2cc7c3a2a0e384fd3a293abeb7fd6838dd6df6
+size 4986067

actions/locomanipulation/LM29/session_002/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a37c248b465227e241b74b7bb28fa3016e5fa179ea936cd7432eed902a8eaa23
-size 5748689
+oid sha256:8a0c4afe2e438ccf72f133ea7fe31e714bf3f7a403a45d0e78b8e2cb61fc9480
+size 10674909

actions/locomanipulation/LM29/session_003/annotations.json

@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "LM29",
+ "instruction": "Carry the box up onto the platform, across it, and down the other side, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 128.966711,
+   "video": "left_eye",
+   "video_t_start": 0.0392908656712434
+  }
+ ],
+ "episodes": [
+  {
+   "id": "e4e2a6b0-dc7f-4844-b05f-4f7d66f0b7cf",
+   "segment": "segment1",
+   "action": "LM29",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 125,
+   "t_start": 0.0393,
+   "t_end": 125.0393,
+   "instruction": "Carry the box up onto the platform, across it, and down the other side, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}

actions/locomanipulation/LM29/session_003/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd8cbb27136b2534cd6d7ae88e26ed1b70a27edc237c9532c59b54f092176b83
+size 741003

actions/locomanipulation/LM29/session_003/meta.json

@@ -328,8 +328,8 @@
   "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": {
@@ -519,10 +519,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.1993025311163936
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 17.79,
+    "offset_rotvec": [
+     -0.1075,
+     0.2822,
+     -0.0719
+    ],
+    "dev_deg": {
+     "median": 3.8,
+     "p90": 8.35
+    },
+    "samples": 3846,
+    "accepted": 3800,
+    "wrist_pos_err_mm_median": 47.2,
+    "per_camera": {
+     "head": {
+      "samples": 3846,
+      "accepted": 3800,
+      "gate_deg": 30.0,
+      "offset_deg": 17.79,
+      "tier": "primary",
+      "dev_deg_median": 3.8,
+      "wrist_pos_err_mm_median": 47.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15202,
+     "interpolated": 128,
+     "mean_hand": 154,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9901,
+    "observed_fraction_of_valid": 0.9901,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 17.48,
+     "smplx": 0.34
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 13.4,
+      "p90": 15.9
+     },
+     "registered": {
+      "median": 14.0,
+      "p90": 15.7
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 23.46,
+    "offset_rotvec": [
+     -0.1705,
+     -0.3296,
+     -0.1731
+    ],
+    "dev_deg": {
+     "median": 3.83,
+     "p90": 7.86
+    },
+    "samples": 3846,
+    "accepted": 3844,
+    "wrist_pos_err_mm_median": 68.8,
+    "per_camera": {
+     "head": {
+      "samples": 3846,
+      "accepted": 3844,
+      "gate_deg": 30.0,
+      "offset_deg": 23.46,
+      "tier": "primary",
+      "dev_deg_median": 3.83,
+      "wrist_pos_err_mm_median": 68.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15380,
+     "interpolated": 92,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9992,
+    "observed_fraction_of_valid": 0.9992,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 21.8,
+     "smplx": 0.39
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.9,
+      "p90": 14.0
+     },
+     "registered": {
+      "median": 9.6,
+      "p90": 13.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T23:00:27.145096+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/LM29/session_003",
   "family": "locomanipulation",
   "primitive": "LM29",
   "source_session": "20260918/LM29/20260918_094146_session72"
+ },
+ "task": {
+  "primitive": "LM29",
+  "instruction": "Carry the box up onto the platform, across it, and down the other side, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
  }
 }

actions/locomanipulation/LM29/session_003/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3d65df226ad66015ab0fc84c4e0e6ffb42af446daee2765ff34952abc9b7278
+size 5181455

actions/locomanipulation/LM29/session_003/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b7b4322b8ef589ade39c89e7219248ffbae76c4544bbe1b2a56561596256cc8b
-size 5960163
+oid sha256:16dd3f5d58fd1b53362895b0365ddc72871bb364965b6dc070fd3163322355ce
+size 11126844

actions/locomanipulation/LM29/session_004/annotations.json

@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "LM29",
+ "instruction": "Carry the box up onto the platform, across it, and down the other side, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 123.966667,
+   "video": "left_eye",
+   "video_t_start": 0.038675718490612354
+  }
+ ],
+ "episodes": [
+  {
+   "id": "fecd17e9-da77-4511-9280-2670ee533239",
+   "segment": "segment1",
+   "action": "LM29",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 117,
+   "t_start": 0.0387,
+   "t_end": 117.0387,
+   "instruction": "Carry the box up onto the platform, across it, and down the other side, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}

actions/locomanipulation/LM29/session_004/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2242b398b2162f4bd4b357658d86f9c1bb57de3c354da034d1a5e6a5de72ea56
+size 713061

actions/locomanipulation/LM29/session_004/meta.json

@@ -342,8 +342,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -528,10 +528,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.1623879013958003
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 17.27,
+    "offset_rotvec": [
+     -0.0088,
+     0.3002,
+     -0.0256
+    ],
+    "dev_deg": {
+     "median": 7.08,
+     "p90": 13.02
+    },
+    "samples": 3704,
+    "accepted": 3587,
+    "wrist_pos_err_mm_median": 51.1,
+    "per_camera": {
+     "head": {
+      "samples": 3704,
+      "accepted": 3587,
+      "gate_deg": 30.0,
+      "offset_deg": 17.27,
+      "tier": "primary",
+      "dev_deg_median": 7.08,
+      "wrist_pos_err_mm_median": 51.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14396,
+     "interpolated": 424,
+     "mean_hand": 58,
+     "no_body_fit": 6
+    },
+    "observed_fraction": 0.9957,
+    "observed_fraction_of_valid": 0.9961,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 18.89,
+     "smplx": 0.39
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 12.8,
+      "p90": 14.2
+     },
+     "registered": {
+      "median": 13.0,
+      "p90": 14.1
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 27.68,
+    "offset_rotvec": [
+     -0.1164,
+     -0.3991,
+     -0.2461
+    ],
+    "dev_deg": {
+     "median": 4.21,
+     "p90": 8.46
+    },
+    "samples": 3690,
+    "accepted": 3676,
+    "wrist_pos_err_mm_median": 76.1,
+    "per_camera": {
+     "head": {
+      "samples": 3690,
+      "accepted": 3676,
+      "gate_deg": 30.0,
+      "offset_deg": 27.68,
+      "tier": "primary",
+      "dev_deg_median": 4.21,
+      "wrist_pos_err_mm_median": 76.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14716,
+     "interpolated": 156,
+     "mean_hand": 6,
+     "no_body_fit": 6
+    },
+    "observed_fraction": 0.9992,
+    "observed_fraction_of_valid": 0.9996,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 24.36,
+     "smplx": 0.34
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 11.0,
+      "p90": 16.0
+     },
+     "registered": {
+      "median": 11.2,
+      "p90": 15.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T23:00:14.657288+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/LM29/session_004",
   "family": "locomanipulation",
   "primitive": "LM29",
   "source_session": "20260918/LM29/20260918_094408_session73"
+ },
+ "task": {
+  "primitive": "LM29",
+  "instruction": "Carry the box up onto the platform, across it, and down the other side, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
  }
 }

actions/locomanipulation/LM29/session_004/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:237e400dd8d8583e6f3d22682818cc73f85a5827e463123eb8386615ccefbf23
+size 4976750

actions/locomanipulation/LM29/session_004/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0f2db1d83d080eda62816732ce030aa057087c7f7455b09becc6300a73af6cf7
-size 5723206
+oid sha256:cde1c734a0815256145acfe9f9df370b8287e5f89b506f19756fa89947afbd4e
+size 10701857

actions/locomanipulation/LM29/session_005/annotations.json

@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "LM29",
+ "instruction": "Carry the box up onto the platform, across it, and down the other side, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 113.966633,
+   "video": "left_eye",
+   "video_t_start": 0.039375990155542606
+  }
+ ],
+ "episodes": [
+  {
+   "id": "eae5544f-3bfb-4e92-b0fc-ba399c5c6e80",
+   "segment": "segment1",
+   "action": "LM29",
+   "quality": "valid",
+   "start_s": 0.839,
+   "end_s": 109.181,
+   "t_start": 0.8784,
+   "t_end": 109.2204,
+   "instruction": "Carry the box up onto the platform, across it, and down the other side, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}

actions/locomanipulation/LM29/session_005/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5aa49453a66a9fe17927775228ffc61bd2692732da23662abb7726e9b2ee79cf
+size 656288

actions/locomanipulation/LM29/session_005/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": 0.7307324437568076
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 9.45,
+    "offset_rotvec": [
+     0.0498,
+     0.1505,
+     -0.0458
+    ],
+    "dev_deg": {
+     "median": 8.3,
+     "p90": 21.99
+    },
+    "samples": 3199,
+    "accepted": 3005,
+    "wrist_pos_err_mm_median": 37.1,
+    "per_camera": {
+     "head": {
+      "samples": 3199,
+      "accepted": 3005,
+      "gate_deg": 30.0,
+      "offset_deg": 9.45,
+      "tier": "primary",
+      "dev_deg_median": 8.3,
+      "wrist_pos_err_mm_median": 37.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12054,
+     "interpolated": 846,
+     "mean_hand": 784,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9427,
+    "observed_fraction_of_valid": 0.9427,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.54,
+     "smplx": 2.03
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.3,
+      "p90": 10.2
+     },
+     "registered": {
+      "median": 9.0,
+      "p90": 10.8
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 12.17,
+    "offset_rotvec": [
+     -0.0472,
+     -0.1739,
+     0.1124
+    ],
+    "dev_deg": {
+     "median": 7.49,
+     "p90": 29.41
+    },
+    "samples": 3241,
+    "accepted": 2924,
+    "wrist_pos_err_mm_median": 76.6,
+    "per_camera": {
+     "head": {
+      "samples": 3241,
+      "accepted": 2924,
+      "gate_deg": 30.0,
+      "offset_deg": 12.17,
+      "tier": "primary",
+      "dev_deg_median": 7.49,
+      "wrist_pos_err_mm_median": 76.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11752,
+     "interpolated": 756,
+     "mean_hand": 1176,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9141,
+    "observed_fraction_of_valid": 0.9141,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.67,
+     "smplx": 1.29
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 14.8,
+      "p90": 23.4
+     },
+     "registered": {
+      "median": 14.1,
+      "p90": 22.8
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:36:25.502488+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/LM29/session_005",
   "family": "locomanipulation",
   "primitive": "LM29",
   "source_session": "20260924/LM29/20260924_033258_session50"
+ },
+ "task": {
+  "primitive": "LM29",
+  "instruction": "Carry the box up onto the platform, across it, and down the other side, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
  }
 }

actions/locomanipulation/LM29/session_005/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8390c3989309a62d085310e09f6f31bbbbd0a38e4940c0c52ffee77e3b094130
+size 4351723

actions/locomanipulation/LM29/session_005/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ddf4f51072dab28a5aeb393e5541c3fc0063bd15239e200fc79e06eacd4428e2
-size 5282897
+oid sha256:751c67e6edefdd4fb0a6dc96ab396ff65af70d1ba9dae2ea2937c5bee387d3ed
+size 9636371

actions/locomanipulation/LM29/session_006/annotations.json

@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "LM29",
+ "instruction": "Carry the box up onto the platform, across it, and down the other side, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 128.966656,
+   "video": "left_eye",
+   "video_t_start": 0.03959856715729693
+  }
+ ],
+ "episodes": [
+  {
+   "id": "e7e53260-e84e-482c-ba22-003272c6ca62",
+   "segment": "segment1",
+   "action": "LM29",
+   "quality": "valid",
+   "start_s": 1.416,
+   "end_s": 124.851,
+   "t_start": 1.4556,
+   "t_end": 124.8906,
+   "instruction": "Carry the box up onto the platform, across it, and down the other side, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}

actions/locomanipulation/LM29/session_006/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1afc8d3471edcb562bcff58061303acedba9cdf792e6e71db5e25a2509db259
+size 738334

actions/locomanipulation/LM29/session_006/meta.json

@@ -352,8 +352,8 @@
   "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": {
@@ -538,10 +538,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.8867889969941997
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 19.19,
+    "offset_rotvec": [
+     0.3343,
+     0.0097,
+     -0.0195
+    ],
+    "dev_deg": {
+     "median": 14.21,
+     "p90": 31.24
+    },
+    "samples": 3520,
+    "accepted": 3124,
+    "wrist_pos_err_mm_median": 39.1,
+    "per_camera": {
+     "head": {
+      "samples": 3520,
+      "accepted": 3124,
+      "gate_deg": 30.0,
+      "offset_deg": 19.19,
+      "tier": "primary",
+      "dev_deg_median": 14.21,
+      "wrist_pos_err_mm_median": 39.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12618,
+     "interpolated": 1401,
+     "mean_hand": 1460,
+     "no_body_fit": 5
+    },
+    "observed_fraction": 0.9054,
+    "observed_fraction_of_valid": 0.9057,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 22.11,
+     "smplx": 2.27
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.3,
+      "p90": 10.8
+     },
+     "registered": {
+      "median": 7.7,
+      "p90": 9.4
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 23.95,
+    "offset_rotvec": [
+     0.3877,
+     0.0047,
+     -0.1563
+    ],
+    "dev_deg": {
+     "median": 14.5,
+     "p90": 42.34
+    },
+    "samples": 3451,
+    "accepted": 2748,
+    "wrist_pos_err_mm_median": 77.9,
+    "per_camera": {
+     "head": {
+      "samples": 3451,
+      "accepted": 2748,
+      "gate_deg": 30.0,
+      "offset_deg": 23.95,
+      "tier": "primary",
+      "dev_deg_median": 14.5,
+      "wrist_pos_err_mm_median": 77.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11146,
+     "interpolated": 2325,
+     "mean_hand": 2008,
+     "no_body_fit": 5
+    },
+    "observed_fraction": 0.87,
+    "observed_fraction_of_valid": 0.8703,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 19.5,
+     "smplx": 2.01
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.4,
+      "p90": 8.7
+     },
+     "registered": {
+      "median": 7.2,
+      "p90": 8.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:36:22.859496+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/LM29/session_006",
   "family": "locomanipulation",
   "primitive": "LM29",
   "source_session": "20260924/LM29/20260924_092343_session126"
+ },
+ "task": {
+  "primitive": "LM29",
+  "instruction": "Carry the box up onto the platform, across it, and down the other side, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
  }
 }

actions/locomanipulation/LM29/session_006/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c937da9b16d7054de682220af5b2c58622bc53b97ad76f0e47cc276e1f24837e
+size 4781682

actions/locomanipulation/LM29/session_006/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:9398df47a6cd92b9ddfe6e724c68f8dc86607cc19290b9a8ff08c22ecb2bafd9
-size 5970911
+oid sha256:614cd6bc49786f2a471e04db16267681b8eb62a02d380fa7a957a13adce9d5ae
+size 10771669