Release update 2026-11-05: new sessions, instructions, annotations (part 20)

.gitattributes

@@ -50261,3 +50261,38 @@ actions/static_manipulation/SM18/session_008/raw/sensors/robowrist_mag_right.db
 actions/static_manipulation/SM18/session_009/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
 actions/static_manipulation/SM18/session_009/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
 actions/static_manipulation/SM18/session_009/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM18/session_009/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM18/session_009/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM18/session_009/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM18/session_009/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM18/session_009/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM18/session_009/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM18/session_009/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM19/session_006/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM19/session_006/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM19/session_006/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM19/session_006/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM19/session_006/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM19/session_006/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM19/session_006/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM19/session_006/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM19/session_006/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM19/session_007/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM19/session_007/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM19/session_007/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM19/session_007/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM19/session_007/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM19/session_007/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM19/session_007/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM19/session_007/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM19/session_007/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM19/session_007/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM19/session_008/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM19/session_008/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM19/session_008/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM19/session_008/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM19/session_008/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM19/session_008/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM19/session_008/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM19/session_008/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM19/session_008/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/static_manipulation/SM18/session_009/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47545c47936583c30c505a0caf4dd22f42f98019957b2b215b0d31ae57eb841a
+size 1544192

actions/static_manipulation/SM18/session_009/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a2a8ca1a2b4c64b52497acc616842f9bc69bc80ea076d63a2f3d8da15cd5079
+size 1478656

actions/static_manipulation/SM18/session_009/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d86179930bb744c8b529a5cee52ebf083512b30dbe91ee217df91e834e14101
+size 401408

actions/static_manipulation/SM18/session_009/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abb4c9ad797e415cbd391aaafd0a9d0cca35393986a589b95df4449e6347c2c8
+size 1454080

actions/static_manipulation/SM18/session_009/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:049c397cdfc06aad0ed80ffffdadf676fafabbd385553b6a7b1e6b65ee670a56
+size 1470464

actions/static_manipulation/SM18/session_009/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2532f4a8455f1290a4acd942f87efea21a88f3dd79d67ccae8dfb617eaafc29a
+size 380928

actions/static_manipulation/SM18/session_009/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16f68ade86b9deef3e4923cf05567eacfe68e65c205b7637e28fe919841b1ea4
+size 380928

actions/static_manipulation/SM18/session_009/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f9d6ea6f2cacb16b99b0c8535a646a910131c25e242b1e621778d3f3d026394
+size 1460704

actions/static_manipulation/SM18/session_009/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a76d815fb8c12d61e308e3f7a63edeb45c82b21227a268198dc452cfe46e581f
+size 140333

actions/static_manipulation/SM18/session_009/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fba3164a8b73d829bc870b885f45e12a2ff9f768dcbe052ddec8c57eefd9775
+size 1617707

actions/static_manipulation/SM18/session_009/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a3dc469ef6825ae718663f297122df592a4eaf0b03496630d67b5ed842bcd86
+size 317085

actions/static_manipulation/SM18/session_009/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8573bad2adfb9364c210c77afb4cd6f01882c3fa7b7ac18a49e3c8723ffa51c8
+size 305414

actions/static_manipulation/SM18/session_009/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16b1319f01691754d95ea1bd3d13c8e9e71e59b4b98fd623f9ef4d6c5fb72c90
+size 75357622

actions/static_manipulation/SM18/session_009/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5266354647557fa4a946ad047034a76e16abde3fbbf9dcf7761b49800906862e
+size 75316094

actions/static_manipulation/SM18/session_009/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9ccb16c934b2f9f7051ede5bd8c6ef16b644c57c02044d748852eca1ba69f13
+size 75363533

actions/static_manipulation/SM18/session_009/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8c46b32a8ffd2eda6316e23dff43581fbf7361892c364670cdc4a449bcd4440
+size 75325339

actions/static_manipulation/SM18/session_009/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:deb7f90a3a03f131824719f2d4fd49b563e99ed01f463a1f437b494e1422a98d
+size 75347883

actions/static_manipulation/SM18/session_009/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d2f3af6d0874a411df179aaef4615225dacfa65e4c5faa2d8e492b7fdda63a6
+size 75345602

actions/static_manipulation/SM18/session_009/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc6a9d45949f2820c774db029e6a42b984f48598c55e520d535fd1396ef979f7
+size 51281701

actions/static_manipulation/SM18/session_009/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2601934fa03c4f98c709c66fc2b89c11364c509979f3ea39b005e65f7c4e5986
+size 50847237

actions/static_manipulation/SM18/session_009/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:965497e4554045bd6c7862c22ba3ba440655ac72013f95f8a6e956a95de8f26e
+size 58960067

actions/static_manipulation/SM19/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": "SM19",
+ "instruction": "Open the hinged item all the way, then close it all the way. 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": 153.966678,
+   "video": "left_eye",
+   "video_t_start": 0.03865877347764424
+  }
+ ],
+ "episodes": [
+  {
+   "id": "7ac9e874-ff67-4368-8f8d-68db3766dcd9",
+   "segment": "segment1",
+   "action": "SM19",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 75,
+   "t_start": 0.0387,
+   "t_end": 75.0387,
+   "instruction": "Open the hinged item all the way, then close it all the way. 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": "1400eca0-ec0b-4d49-a6a6-dbe579018a1c",
+   "segment": "segment1",
+   "action": "SM19",
+   "quality": "valid",
+   "start_s": 76.196,
+   "end_s": 147.999,
+   "t_start": 76.2347,
+   "t_end": 148.0377,
+   "instruction": "Open the hinged item all the way, then close it all the way. 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/SM19/session_001/cameras/gsi_online_calibration.json

@@ -0,0 +1,260 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.379
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 0.7116,
+   "gate_fail": [],
+   "held_out_px_after": 0.529,
+   "held_out_px_before": 3.994,
+   "inliers": 3192,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2516,
+    -0.2684,
+    -0.6092
+   ],
+   "split_deg": 0.078,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.8077,
+   "gate_fail": [],
+   "held_out_px_after": 0.411,
+   "held_out_px_before": 5.915,
+   "inliers": 5046,
+   "position_fitted": true,
+   "position_mm": [
+    5.1,
+    -16.14,
+    8.09
+   ],
+   "position_sigma_mm": 0.202,
+   "position_split_mm": 0.758,
+   "rotvec_deg": [
+    -0.2033,
+    0.5989,
+    -1.6934
+   ],
+   "split_deg": 0.0218,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 1.0449,
+   "gate_fail": [],
+   "held_out_px_after": 0.469,
+   "held_out_px_before": 4.01,
+   "inliers": 2043,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.0316,
+    -0.1003,
+    -0.1325
+   ],
+   "split_deg": 0.0423,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.5909,
+   "gate_fail": [],
+   "held_out_px_after": 0.382,
+   "held_out_px_before": 2.918,
+   "inliers": 5124,
+   "position_fitted": true,
+   "position_mm": [
+    6.87,
+    -17.8,
+    7.41
+   ],
+   "position_sigma_mm": 0.227,
+   "position_split_mm": 0.735,
+   "rotvec_deg": [
+    0.0341,
+    -0.4791,
+    -0.3443
+   ],
+   "split_deg": 0.0181,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.3464,
+   "gate_fail": [],
+   "held_out_px_after": 0.343,
+   "held_out_px_before": 4.314,
+   "inliers": 6544,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.4152,
+    -0.0542,
+    -1.2796
+   ],
+   "split_deg": 0.0109,
+   "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": "16ae49672950c0d9690b09f2798bd4193ec944e73b626c56c8109d4d34eb92a5",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "d6056f819ded7fbb0458f6077d26c941d2b7949f1ec65cba8d60dfd32375d955",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "8d6735adf5af57cd563a9b3b07b8d517b4b5d66b714c5e6ce73fc4e27acaf110",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "8da6bebd3a3f6335e8cefb2f6372bc507766fa199946c8eb656a0317202fc093",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "0ad0a64f4f9a6995",
+ "kind": "online_calibration",
+ "output_sha256": "7ae5cebe47b80d8442f64d841d1a531e938d18fb2671fe0ca7fd7a3ca6ea9dc7",
+ "overlap": {
+  "left-right": 0.501,
+  "left_eye-left": 0.707,
+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 35.878,
+  "left_eye": 41.27,
+  "left_front": 44.316,
+  "right": 27.097,
+  "right_eye": 43.63,
+  "right_front": 45.127
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   16018748285222,
+   16019748196333,
+   16023748174111,
+   16024748174111,
+   16032748174111,
+   16033748174111,
+   16035748196333,
+   16036748163000,
+   16042748174111,
+   16043748174111,
+   16047748318555,
+   16048748240777,
+   16052748240777,
+   16053748251888,
+   16055748185222,
+   16056748174111,
+   16061748207444,
+   16062748218555,
+   16065748174111,
+   16066748207444,
+   16072748174111,
+   16073748174111,
+   16075748163000,
+   16076748296333,
+   16079748174111,
+   16080748163000,
+   16086748196333,
+   16087748251888,
+   16092748196333,
+   16093748218555,
+   16094748218555,
+   16095748151888,
+   16097748185222,
+   16098748218555,
+   16103748218555,
+   16104748163000,
+   16110748207444,
+   16111748263000,
+   16115748174111,
+   16116748185222,
+   16119748163000,
+   16120748174111,
+   16124748185222,
+   16125748218555,
+   16131748174111,
+   16132748207444,
+   16133748174111,
+   16140748174111,
+   16141748240777,
+   16143748196333,
+   16144748163000,
+   16149748185222,
+   16150748174111,
+   16155748251888,
+   16156748174111,
+   16158748174111,
+   16159748218555,
+   16163748307444,
+   16164748285222
+  ]
+ },
+ "version": 1
+}

actions/static_manipulation/SM19/session_001/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:763ed5a47ce4c98cac8267457097d774e2424848fe3c6b9ddd8e6d5d25de9c0c
+size 874352

actions/static_manipulation/SM19/session_001/meta.json

@@ -730,5 +730,9 @@
   "family": "static_manipulation",
   "primitive": "SM19",
   "source_session": "20260915/SM19/20260915_050819_session56"
+ },
+ "task": {
+  "primitive": "SM19",
+  "instruction": "Open the hinged item all the way, then close it all the way. 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/SM19/session_001/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98e6d5c6b84fe7974c00b6f75a381f910f8179b94aa4c0580f21dd16b3fc29a5
+size 6113701

actions/static_manipulation/SM19/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": "SM19",
+ "instruction": "Open the hinged item all the way, then close it all the way. 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": 133.966689,
+   "video": "left_eye",
+   "video_t_start": 0.040858976792834234
+  }
+ ],
+ "episodes": [
+  {
+   "id": "6bc740c0-5628-41b9-a9c7-fa9681d76255",
+   "segment": "segment1",
+   "action": "SM19",
+   "quality": "valid",
+   "start_s": 1.728,
+   "end_s": 60.552,
+   "t_start": 1.7689,
+   "t_end": 60.5929,
+   "instruction": "Open the hinged item all the way, then close it all the way. 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": "77192f60-a0ce-4415-b851-6d41a578b89c",
+   "segment": "segment1",
+   "action": "SM19",
+   "quality": "valid",
+   "start_s": 60.552,
+   "end_s": 126.145,
+   "t_start": 60.5929,
+   "t_end": 126.1859,
+   "instruction": "Open the hinged item all the way, then close it all the way. 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/SM19/session_002/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02213cc8a4b48ac1afd75c42b50db4aa2d2f852a6724b939cd3ab6f84ead98e2
+size 766769

actions/static_manipulation/SM19/session_002/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": {
@@ -529,10 +529,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.8312041773100101
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 10.99,
+    "offset_rotvec": [
+     0.159,
+     -0.1034,
+     0.0289
+    ],
+    "dev_deg": {
+     "median": 24.8,
+     "p90": 72.04
+    },
+    "samples": 3671,
+    "accepted": 2206,
+    "wrist_pos_err_mm_median": 30.3,
+    "per_camera": {
+     "head": {
+      "samples": 3671,
+      "accepted": 2206,
+      "gate_deg": 30.0,
+      "offset_deg": 10.99,
+      "tier": "primary",
+      "dev_deg_median": 24.8,
+      "wrist_pos_err_mm_median": 30.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 8918,
+     "interpolated": 2576,
+     "mean_hand": 4590,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.7146,
+    "observed_fraction_of_valid": 0.7146,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 18.74,
+     "smplx": 1.65
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.9,
+      "p90": 10.6
+     },
+     "registered": {
+      "median": 8.4,
+      "p90": 10.5
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 12.28,
+    "offset_rotvec": [
+     -0.0822,
+     -0.1974,
+     -0.0156
+    ],
+    "dev_deg": {
+     "median": 19.41,
+     "p90": 49.95
+    },
+    "samples": 3736,
+    "accepted": 2986,
+    "wrist_pos_err_mm_median": 39.6,
+    "per_camera": {
+     "head": {
+      "samples": 3736,
+      "accepted": 2986,
+      "gate_deg": 30.0,
+      "offset_deg": 12.28,
+      "tier": "primary",
+      "dev_deg_median": 19.41,
+      "wrist_pos_err_mm_median": 39.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12032,
+     "interpolated": 2036,
+     "mean_hand": 2016,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.8747,
+    "observed_fraction_of_valid": 0.8747,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 24.27,
+     "smplx": 3.27
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 11.9,
+      "p90": 14.0
+     },
+     "registered": {
+      "median": 10.3,
+      "p90": 12.2
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:34:01.056728+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/SM19/session_002",
   "family": "static_manipulation",
   "primitive": "SM19",
   "source_session": "20260924/SM19/20260924_112344_session158"
+ },
+ "task": {
+  "primitive": "SM19",
+  "instruction": "Open the hinged item all the way, then close it all the way. 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/SM19/session_002/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6784cd30d67842c2dcf38fd16b3dab121dac71ab1336f2c9e90b319eb763212
+size 5036146

actions/static_manipulation/SM19/session_002/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b034495d6400406aea30f8a21f9761cfd34348ebeca271e39eeaff545021d199
-size 6106217
+oid sha256:18e53affc3d8634eb3aa12c317892224a967fc2f5d940dc6ab7ad74392bf8c43
+size 10661615

actions/static_manipulation/SM19/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": "SM19",
+ "instruction": "Open the hinged item all the way, then close it all the way. 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": 138.966533,
+   "video": "left_eye",
+   "video_t_start": 0.03996711785635876
+  }
+ ],
+ "episodes": [
+  {
+   "id": "6e691a53-e507-4e39-b3d6-0bf67318045c",
+   "segment": "segment1",
+   "action": "SM19",
+   "quality": "valid",
+   "start_s": 1.275,
+   "end_s": 73.321,
+   "t_start": 1.315,
+   "t_end": 73.361,
+   "instruction": "Open the hinged item all the way, then close it all the way. 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": "e0d28b82-6b59-41e0-a0e4-7ed58d262d77",
+   "segment": "segment1",
+   "action": "SM19",
+   "quality": "valid",
+   "start_s": 75.908,
+   "end_s": 133.077,
+   "t_start": 75.948,
+   "t_end": 133.117,
+   "instruction": "Open the hinged item all the way, then close it all the way. 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/SM19/session_003/cameras/gsi_online_calibration.json

@@ -0,0 +1,258 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.348
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.0473,
+   "gate_fail": [],
+   "held_out_px_after": 0.498,
+   "held_out_px_before": 5.51,
+   "inliers": 2319,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2673,
+    -0.4785,
+    -0.8924
+   ],
+   "split_deg": 0.0534,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.5147,
+   "gate_fail": [],
+   "held_out_px_after": 0.363,
+   "held_out_px_before": 8.034,
+   "inliers": 4304,
+   "position_fitted": true,
+   "position_mm": [
+    5.56,
+    -9.93,
+    5.91
+   ],
+   "position_sigma_mm": 0.38,
+   "position_split_mm": 1.045,
+   "rotvec_deg": [
+    -0.0083,
+    0.8007,
+    -2.3838
+   ],
+   "split_deg": 0.0187,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.8646,
+   "gate_fail": [],
+   "held_out_px_after": 0.592,
+   "held_out_px_before": 5.843,
+   "inliers": 2358,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.6837,
+    -0.7515,
+    -0.2774
+   ],
+   "split_deg": 0.0642,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0344,
+   "gate_fail": [],
+   "held_out_px_after": 0.338,
+   "held_out_px_before": 3.063,
+   "inliers": 4660,
+   "position_fitted": true,
+   "position_mm": [
+    9.19,
+    -9.77,
+    7.08
+   ],
+   "position_sigma_mm": 0.33,
+   "position_split_mm": 1.559,
+   "rotvec_deg": [
+    0.2554,
+    -0.3448,
+    -0.9413
+   ],
+   "split_deg": 0.0237,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9843,
+   "gate_fail": [],
+   "held_out_px_after": 0.303,
+   "held_out_px_before": 6.139,
+   "inliers": 5895,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.232,
+    -0.0028,
+    -1.9707
+   ],
+   "split_deg": 0.007,
+   "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": "9d803dfbb6074c57b8516eee80486683c7f6ffb2a3cf93028631be6a3d792f5f",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "b52f53ceeb7ef00d740b641ec9b1ff8a370196c54524f8d80bd2d60b4b88d502",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "69efc8fbc79642c01b224a34c1afeb1576079a74cd9b70183aa8cd2845824877",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "ebab2800a8aad021603bd4bd7cffc6e7adbc174495c2f17ceb69a8cba1ea34e0",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "e22803be47b67e12",
+ "kind": "online_calibration",
+ "output_sha256": "6989fe92d6dbd01679c3986677e9e7184ec2033dc355df7974bb8d7c8011bf4d",
+ "overlap": {
+  "left-right": 0.501,
+  "left_eye-left": 0.707,
+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 34.47,
+  "left_eye": 36.543,
+  "left_front": 44.818,
+  "right": 29.1,
+  "right_eye": 35.924,
+  "right_front": 42.054
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   7686812263222,
+   7687812129888,
+   7694812129888,
+   7695812141000,
+   7697812207666,
+   7698812118777,
+   7702812152111,
+   7703812129888,
+   7706812129888,
+   7707812241000,
+   7711812141000,
+   7712812152111,
+   7714812129888,
+   7715812118777,
+   7718812141000,
+   7719812129888,
+   7724812129888,
+   7725812118777,
+   7728812141000,
+   7729812118777,
+   7733812207666,
+   7734812141000,
+   7736812118777,
+   7737812207666,
+   7741812129888,
+   7742812141000,
+   7747812107666,
+   7748812129888,
+   7750812241000,
+   7751812185444,
+   7757812174333,
+   7758812129888,
+   7759812263222,
+   7760812196555,
+   7766812141000,
+   7767812229888,
+   7769812174333,
+   7770812329888,
+   7771812129888,
+   7772812141000,
+   7776812118777,
+   7777812163222,
+   7784812141000,
+   7785812141000,
+   7786812129888,
+   7793812141000,
+   7794812129888,
+   7796812141000,
+   7797812252111,
+   7799812141000,
+   7800812141000,
+   7803812152111,
+   7804812152111,
+   7809812141000,
+   7810812141000,
+   7815812141000,
+   7816812141000,
+   7817812141000,
+   7818812141000
+  ]
+ },
+ "version": 1
+}

actions/static_manipulation/SM19/session_003/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0a523b64c57dcab9c354a60247c2bfd84ff561abe14817be6368c77c7916159
+size 796192

actions/static_manipulation/SM19/session_003/meta.json

@@ -325,8 +325,8 @@
   "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": {
@@ -505,10 +505,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.5326627956087728
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 22.39,
+    "offset_rotvec": [
+     0.3867,
+     0.0534,
+     -0.0158
+    ],
+    "dev_deg": {
+     "median": 28.32,
+     "p90": 69.81
+    },
+    "samples": 3710,
+    "accepted": 1935,
+    "wrist_pos_err_mm_median": 28.6,
+    "per_camera": {
+     "head": {
+      "samples": 3710,
+      "accepted": 1935,
+      "gate_deg": 30.0,
+      "offset_deg": 22.39,
+      "tier": "primary",
+      "dev_deg_median": 28.32,
+      "wrist_pos_err_mm_median": 28.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 7768,
+     "interpolated": 1940,
+     "mean_hand": 6898,
+     "no_body_fit": 78
+    },
+    "observed_fraction": 0.5819,
+    "observed_fraction_of_valid": 0.5846,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 28.76,
+     "smplx": 0.98
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 14.3,
+      "p90": 15.8
+     },
+     "registered": {
+      "median": 12.6,
+      "p90": 13.6
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 14.08,
+    "offset_rotvec": [
+     0.2326,
+     0.0648,
+     -0.046
+    ],
+    "dev_deg": {
+     "median": 11.16,
+     "p90": 38.87
+    },
+    "samples": 3448,
+    "accepted": 2803,
+    "wrist_pos_err_mm_median": 50.8,
+    "per_camera": {
+     "head": {
+      "samples": 3448,
+      "accepted": 2803,
+      "gate_deg": 30.0,
+      "offset_deg": 14.08,
+      "tier": "primary",
+      "dev_deg_median": 11.16,
+      "wrist_pos_err_mm_median": 50.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11306,
+     "interpolated": 1918,
+     "mean_hand": 3382,
+     "no_body_fit": 78
+    },
+    "observed_fraction": 0.7926,
+    "observed_fraction_of_valid": 0.7963,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.87,
+     "smplx": 1.18
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.4,
+      "p90": 11.9
+     },
+     "registered": {
+      "median": 7.6,
+      "p90": 9.9
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:19:01.034507+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/SM19/session_003",
   "family": "static_manipulation",
   "primitive": "SM19",
   "source_session": "20261008/SM19/20261008_022951_session28"
+ },
+ "task": {
+  "primitive": "SM19",
+  "instruction": "Open the hinged item all the way, then close it all the way. 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/SM19/session_003/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8059c3114ba601a738cc3bc35c92e2ac41a7833ea4f9ee786e67554aa14261b6
+size 4880268

actions/static_manipulation/SM19/session_003/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d920b155ad2792834b592e9f9a710eb9f1ed99464c22fceef54c562f6a2f6c59
-size 6268904
+oid sha256:cc22703249168b28cca6c1ac0256ce76791f853f884e0b71a4a61260ba3294e3
+size 10532324

actions/static_manipulation/SM19/session_004/cameras/gsi_online_calibration.json

@@ -0,0 +1,257 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.372
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 2.3373,
+   "gate_fail": [],
+   "held_out_px_after": 0.509,
+   "held_out_px_before": 12.1,
+   "inliers": 2954,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.8791,
+    -1.1927,
+    0.7137
+   ],
+   "split_deg": 0.0245,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.7551,
+   "gate_fail": [],
+   "held_out_px_after": 0.442,
+   "held_out_px_before": 4.187,
+   "inliers": 3793,
+   "position_fitted": true,
+   "position_mm": [
+    -2.51,
+    -18.56,
+    3.13
+   ],
+   "position_sigma_mm": 0.135,
+   "position_split_mm": 0.513,
+   "rotvec_deg": [
+    -0.0195,
+    -0.1082,
+    0.7471
+   ],
+   "split_deg": 0.0215,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 3.9049,
+   "gate_fail": [],
+   "held_out_px_after": 0.682,
+   "held_out_px_before": 8.783,
+   "inliers": 2137,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.4264,
+    -1.1347,
+    2.8414
+   ],
+   "split_deg": 0.0781,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9573,
+   "gate_fail": [],
+   "held_out_px_after": 0.315,
+   "held_out_px_before": 5.281,
+   "inliers": 4417,
+   "position_fitted": true,
+   "position_mm": [
+    -2.85,
+    -16.8,
+    3.11
+   ],
+   "position_sigma_mm": 0.143,
+   "position_split_mm": 0.174,
+   "rotvec_deg": [
+    0.4272,
+    -0.866,
+    1.7025
+   ],
+   "split_deg": 0.0097,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0203,
+   "gate_fail": [],
+   "held_out_px_after": 0.322,
+   "held_out_px_before": 6.099,
+   "inliers": 6488,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.7036,
+    -0.3775,
+    -0.6352
+   ],
+   "split_deg": 0.0069,
+   "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": "735c47979579bc18626ed76aec70896cd42608af4a6f54a73941ba02c0c7fa23",
+   "source_sha256": "2bf43346f9825da1c051096d46ceb924252959c0c3fed4ac9c166c6096121ae0"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "4d30caa1649743f65b157101ea6c6ab5483c160318683034c1fbf2caff947682",
+   "source_sha256": "b80f390816142bc598f6a58e17810083d07270f17802c79b0d33dade12e1a7ed"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "89bd6a73398fb6592282291688bb99774dab5ba43327c7141e79d3d1cce0ca57",
+   "source_sha256": "55ee2a9af25410709c73762b726e1a41e5450b277090a5256571601dd5fd719b"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "9e98f4325a793d9486d3423fcbbbf2a8e7df8b521d161ee8dbb986dc60a6f4f5",
+   "source_sha256": "b2fcef709086e19cb082ae12586aebd1a6fa9a92db90015c1c5a641f4588dfc7"
+  }
+ },
+ "input_fingerprint": "f9a74fae219bddc8",
+ "kind": "online_calibration",
+ "output_sha256": "2a33611e1c36115d1cb92486fd9bba27d3197f809e64adb69b8501e2db2974cc",
+ "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": 25.164,
+  "left_eye": 26.865,
+  "left_front": 32.663,
+  "right": 19.996,
+  "right_eye": 25.247,
+  "right_front": 31.877
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   863221310222,
+   864221365777,
+   865221232444,
+   868221221333,
+   869221332444,
+   874221221333,
+   875221221333,
+   877221243555,
+   878221232444,
+   882221243555,
+   883221243555,
+   888221232444,
+   889221243555,
+   890221232444,
+   895221243555,
+   896221232444,
+   899221332444,
+   900221243555,
+   904221243555,
+   905221243555,
+   907221243555,
+   908221232444,
+   911221221333,
+   912221254666,
+   915221321333,
+   916221332444,
+   921221310222,
+   922221243555,
+   924221243555,
+   925221310222,
+   930221254666,
+   931221365777,
+   932221232444,
+   933221243555,
+   937221276888,
+   938221232444,
+   942221243555,
+   943221221333,
+   945221232444,
+   946221243555,
+   950221243555,
+   951221310222,
+   954221232444,
+   955221232444,
+   961221254666,
+   962221332444,
+   964221254666,
+   965221254666,
+   969221221333,
+   970221232444,
+   971221232444,
+   975221365777,
+   976221232444,
+   982221321333,
+   983221221333,
+   984221243555
+  ]
+ },
+ "version": 1
+}

actions/static_manipulation/SM19/session_004/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcab86e53291f4599bc731f152710f52fc585ad94f8510e8cce189e32eb5f152
+size 749759

actions/static_manipulation/SM19/session_004/meta.json

@@ -365,8 +365,8 @@
   "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": {
@@ -581,12 +581,126 @@
   },
   "applied": 1
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 7.51,
+    "offset_rotvec": [
+     -0.0687,
+     0.0462,
+     -0.1017
+    ],
+    "dev_deg": {
+     "median": 5.36,
+     "p90": 12.58
+    },
+    "samples": 3731,
+    "accepted": 3589,
+    "wrist_pos_err_mm_median": 39.5,
+    "per_camera": {
+     "head": {
+      "samples": 3731,
+      "accepted": 3589,
+      "gate_deg": 30.0,
+      "offset_deg": 7.51,
+      "tier": "primary",
+      "dev_deg_median": 5.36,
+      "wrist_pos_err_mm_median": 39.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14417,
+     "interpolated": 434,
+     "mean_hand": 977,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9378,
+    "observed_fraction_of_valid": 0.9383,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 6.02,
+     "smplx": 0.96
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.2,
+      "p90": 11.9
+     },
+     "registered": {
+      "median": 7.1,
+      "p90": 7.9
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 8.58,
+    "offset_rotvec": [
+     0.0522,
+     -0.056,
+     -0.1287
+    ],
+    "dev_deg": {
+     "median": 13.23,
+     "p90": 24.97
+    },
+    "samples": 3841,
+    "accepted": 3590,
+    "wrist_pos_err_mm_median": 72.4,
+    "per_camera": {
+     "head": {
+      "samples": 3841,
+      "accepted": 3590,
+      "gate_deg": 30.0,
+      "offset_deg": 8.58,
+      "tier": "primary",
+      "dev_deg_median": 13.23,
+      "wrist_pos_err_mm_median": 72.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14500,
+     "interpolated": 1028,
+     "mean_hand": 300,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9806,
+    "observed_fraction_of_valid": 0.981,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 9.11,
+     "smplx": 1.92
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.6,
+      "p90": 13.5
+     },
+     "registered": {
+      "median": 10.2,
+      "p90": 13.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:34:24.863285+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/SM19/session_004",
   "family": "static_manipulation",
   "primitive": "SM19",
   "source_session": "20261024/SM19/20261024_021103_session3"
  },
+ "task": {
+  "primitive": "SM19",
+  "instruction": "Open the hinged item all the way, then close it all the way. 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/SM19/session_004/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f44c81f2c50b65ebbcdada695a91f6ff68e2de943c4a7dac167b0bd11a023a6
+size 5060601

actions/static_manipulation/SM19/session_004/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e755bdc38df5226c580125d2e8b6d98fb7747b24dd36f5eed17d04c6f981bf5b
-size 5977345
+oid sha256:b0fd5491991bd17ab955f5188714d883ca5b1c1a79dc2d27ffd1f43a267e1346
+size 11111481

actions/static_manipulation/SM19/session_005/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": "SM19",
+ "instruction": "Open the hinged item all the way, then close it all the way. 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": 134.999922,
+   "video": "left_eye",
+   "video_t_start": 0.04049503264024243
+  }
+ ],
+ "episodes": [
+  {
+   "id": "7952752a-b32f-437c-99ed-0d241f633bab",
+   "segment": "segment1",
+   "action": "SM19",
+   "quality": "valid",
+   "start_s": 1.834,
+   "end_s": 91.954,
+   "t_start": 1.8745,
+   "t_end": 91.9945,
+   "instruction": "Open the hinged item all the way, then close it all the way. 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": "554aad22-2ef3-4f6e-8482-e0bf8053b9ef",
+   "segment": "segment1",
+   "action": "SM19",
+   "quality": "valid",
+   "start_s": 93.814,
+   "end_s": 131.064,
+   "t_start": 93.8545,
+   "t_end": 131.1045,
+   "instruction": "Open the hinged item all the way, then close it all the way. 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/SM19/session_005/cameras/gsi_online_calibration.json

@@ -0,0 +1,254 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.349
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.6703,
+   "gate_fail": [],
+   "held_out_px_after": 0.417,
+   "held_out_px_before": 15.429,
+   "inliers": 3170,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.2302,
+    -0.251,
+    -1.1016
+   ],
+   "split_deg": 0.0765,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.2774,
+   "gate_fail": [],
+   "held_out_px_after": 0.44,
+   "held_out_px_before": 8.706,
+   "inliers": 5126,
+   "position_fitted": true,
+   "position_mm": [
+    1.11,
+    -27.03,
+    -1.76
+   ],
+   "position_sigma_mm": 0.155,
+   "position_split_mm": 0.229,
+   "rotvec_deg": [
+    1.5604,
+    -0.8451,
+    1.4275
+   ],
+   "split_deg": 0.0485,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 4.4488,
+   "gate_fail": [],
+   "held_out_px_after": 0.829,
+   "held_out_px_before": 9.787,
+   "inliers": 961,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.5065,
+    -1.3707,
+    3.4104
+   ],
+   "split_deg": 0.225,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.9088,
+   "gate_fail": [],
+   "held_out_px_after": 0.419,
+   "held_out_px_before": 4.965,
+   "inliers": 5409,
+   "position_fitted": true,
+   "position_mm": [
+    -0.03,
+    -23.14,
+    -0.14
+   ],
+   "position_sigma_mm": 0.149,
+   "position_split_mm": 2.513,
+   "rotvec_deg": [
+    1.6926,
+    -1.4474,
+    1.8711
+   ],
+   "split_deg": 0.0705,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.5758,
+   "gate_fail": [],
+   "held_out_px_after": 0.325,
+   "held_out_px_before": 2.462,
+   "inliers": 7055,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2358,
+    -0.4741,
+    -0.2263
+   ],
+   "split_deg": 0.007,
+   "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": "8efbefa12fa1ad861bd0e9edc6c30eae1105208cd34477d2d6dd98310f2952a3",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "75e1707dfa63b1ca8f8503a917a1ed895cb27c84246e70cc9d24f79afeba9819",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "18f4e0091bd1290497cc6461d1a966c0dc000c671cf81df2da235357b9d7af7c",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "7e72573116c9187f89fdc9f866ee33a9e417fc939e56218ceef659c129ff28d1",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "7960c98a97387aae",
+ "kind": "online_calibration",
+ "output_sha256": "c6ccc484d635f4954171e657c22594388057e12855bba075aa41e27c366865de",
+ "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": 26.393,
+  "left_eye": 25.231,
+  "left_front": 32.95,
+  "right": 21.697,
+  "right_eye": 25.193,
+  "right_front": 32.447
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   15673405743222,
+   15674405709888,
+   15677405732111,
+   15678405743222,
+   15681405787666,
+   15682405721000,
+   15684405732111,
+   15685405743222,
+   15692405743222,
+   15693405732111,
+   15694405809888,
+   15700405765444,
+   15701405721000,
+   15705405732111,
+   15706405732111,
+   15707405765444,
+   15711405732111,
+   15712405721000,
+   15718405754333,
+   15719405754333,
+   15720405732111,
+   15721405821000,
+   15727405721000,
+   15728405754333,
+   15729405721000,
+   15736405732111,
+   15737405721000,
+   15740405743222,
+   15741405721000,
+   15742405721000,
+   15747405754333,
+   15748405754333,
+   15754405743222,
+   15755405787666,
+   15756405743222,
+   15761405721000,
+   15762405743222,
+   15767405809888,
+   15768405798777,
+   15770405743222,
+   15771405709888,
+   15772405743222,
+   15773405754333,
+   15780405765444,
+   15781405743222,
+   15783405743222,
+   15784405721000,
+   15786405754333,
+   15787405732111,
+   15792405754333,
+   15793405798777,
+   15796405865444,
+   15797405754333,
+   15801405809888,
+   15802405809888
+  ]
+ },
+ "version": 1
+}