Release update 2026-11-05: 5760 sessions, instructions, annotations (part 49)

actions/environment_coupled_wholebody/EC05/session_007/annotations.json

@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "EC05",
+ "instruction": "Push the cart through the gap between the poles without touching them, then bring it back through.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 133.966678,
+   "video": "left_eye",
+   "video_t_start": 0.038968464947231496
+  }
+ ],
+ "episodes": [
+  {
+   "id": "02348a02-7480-435e-a150-c71f221a46e6",
+   "segment": "segment1",
+   "action": "EC05",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 128.084,
+   "t_start": 0.039,
+   "t_end": 128.123,
+   "instruction": "Push the cart through the gap between the poles without touching them, then bring it back through."
+  }
+ ]
+}

actions/environment_coupled_wholebody/EC05/session_007/cameras/gsi_online_calibration.json

@@ -0,0 +1,256 @@
+{
+ "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": 1.2022,
+   "gate_fail": [],
+   "held_out_px_after": 0.451,
+   "held_out_px_before": 5.857,
+   "inliers": 3494,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.1931,
+    -0.4671,
+    -1.0908
+   ],
+   "split_deg": 0.0167,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.605,
+   "gate_fail": [],
+   "held_out_px_after": 0.353,
+   "held_out_px_before": 6.913,
+   "inliers": 5239,
+   "position_fitted": true,
+   "position_mm": [
+    1.98,
+    -9.81,
+    7.1
+   ],
+   "position_sigma_mm": 0.415,
+   "position_split_mm": 2.584,
+   "rotvec_deg": [
+    -0.1238,
+    0.8835,
+    -2.4475
+   ],
+   "split_deg": 0.0537,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 1.6374,
+   "gate_fail": [],
+   "held_out_px_after": 0.699,
+   "held_out_px_before": 4.908,
+   "inliers": 1024,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.4487,
+    -0.5005,
+    -0.5761
+   ],
+   "split_deg": 0.1442,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.1014,
+   "gate_fail": [],
+   "held_out_px_after": 0.363,
+   "held_out_px_before": 2.608,
+   "inliers": 6542,
+   "position_fitted": true,
+   "position_mm": [
+    6.74,
+    -9.34,
+    8.39
+   ],
+   "position_sigma_mm": 0.419,
+   "position_split_mm": 2.856,
+   "rotvec_deg": [
+    0.1833,
+    -0.2722,
+    -1.0514
+   ],
+   "split_deg": 0.0776,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.0374,
+   "gate_fail": [],
+   "held_out_px_after": 0.366,
+   "held_out_px_before": 4.486,
+   "inliers": 5028,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2653,
+    -0.0113,
+    -2.02
+   ],
+   "split_deg": 0.0163,
+   "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": "77d1f47a0fb424ace017ccc8fc1703f69d28c579aa8a69f679ef340055dd0aba",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "d92a2c5c961c5e0bb5c6c4dea5f1fbc4ff8ac60e42f85b4800f3a2ea038e300a",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "0b857068f4fd1db6132abb9a28573e5440869558a16f6c85d2a93b873ad1cdd7",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "d146e21e0dfca99d666bd970d8276df55f5927b42b2b9d319ffa95e9d223fd42",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "56e16229bedf3336",
+ "kind": "online_calibration",
+ "output_sha256": "0da2eece71f8ac8bedae87bf0a373a9c5756fad78adb51843d30316192c5f689",
+ "overlap": {
+  "left-right": 0.501,
+  "left_eye-left": 0.707,
+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 36.536,
+  "left_eye": 35.089,
+  "left_front": 40.557,
+  "right": 40.703,
+  "right_eye": 39.06,
+  "right_front": 40.749
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   7199895970777,
+   7200895970777,
+   7205895993000,
+   7206896048555,
+   7207895993000,
+   7214896015222,
+   7215895959666,
+   7216896104111,
+   7222895959666,
+   7223896015222,
+   7224895993000,
+   7229895981888,
+   7230896148555,
+   7234895981888,
+   7235896004111,
+   7237895959666,
+   7238895981888,
+   7243895993000,
+   7244895970777,
+   7245895970777,
+   7246895970777,
+   7250895981888,
+   7251895970777,
+   7257896059666,
+   7258895970777,
+   7259896004111,
+   7263895970777,
+   7264895981888,
+   7266895970777,
+   7267895970777,
+   7274895993000,
+   7275895993000,
+   7278896004111,
+   7279896048555,
+   7282895993000,
+   7283895970777,
+   7285895993000,
+   7286895981888,
+   7290895993000,
+   7291895970777,
+   7292895993000,
+   7293895970777,
+   7300895993000,
+   7301896004111,
+   7302896004111,
+   7307895959666,
+   7308895970777,
+   7310895959666,
+   7311896004111,
+   7314895993000,
+   7315895970777,
+   7318895993000,
+   7319895981888,
+   7322895970777,
+   7323896004111
+  ]
+ },
+ "version": 1
+}

actions/environment_coupled_wholebody/EC05/session_007/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59e5a13ddaacaa256e412cedfbf0e5f57084df5be118cdeabebf47582ec50974
+size 771097

actions/environment_coupled_wholebody/EC05/session_007/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": {
@@ -508,10 +508,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.465812842031658
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 13.72,
+    "offset_rotvec": [
+     0.0537,
+     0.1897,
+     0.136
+    ],
+    "dev_deg": {
+     "median": 10.77,
+     "p90": 21.24
+    },
+    "samples": 3974,
+    "accepted": 3825,
+    "wrist_pos_err_mm_median": 48.6,
+    "per_camera": {
+     "head": {
+      "samples": 3974,
+      "accepted": 3825,
+      "gate_deg": 30.0,
+      "offset_deg": 13.72,
+      "tier": "primary",
+      "dev_deg_median": 10.77,
+      "wrist_pos_err_mm_median": 48.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15346,
+     "interpolated": 670,
+     "mean_hand": 60,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9958,
+    "observed_fraction_of_valid": 0.9963,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.24,
+     "smplx": 1.66
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 11.8,
+      "p90": 13.7
+     },
+     "registered": {
+      "median": 11.6,
+      "p90": 13.7
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 9.26,
+    "offset_rotvec": [
+     0.0214,
+     -0.1495,
+     0.0577
+    ],
+    "dev_deg": {
+     "median": 9.66,
+     "p90": 21.77
+    },
+    "samples": 3900,
+    "accepted": 3739,
+    "wrist_pos_err_mm_median": 33.1,
+    "per_camera": {
+     "head": {
+      "samples": 3900,
+      "accepted": 3739,
+      "gate_deg": 30.0,
+      "offset_deg": 9.26,
+      "tier": "primary",
+      "dev_deg_median": 9.66,
+      "wrist_pos_err_mm_median": 33.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15033,
+     "interpolated": 618,
+     "mean_hand": 425,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9731,
+    "observed_fraction_of_valid": 0.9736,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.12,
+     "smplx": 1.1
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 14.0,
+      "p90": 17.7
+     },
+     "registered": {
+      "median": 13.6,
+      "p90": 17.1
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:18:07.773149+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/environment_coupled_wholebody/EC05/session_007",
   "family": "environment_coupled_wholebody",
   "primitive": "EC05",
   "source_session": "20261009/EC05/20261009_021323_session27"
+ },
+ "task": {
+  "primitive": "EC05",
+  "instruction": "Push the cart through the gap between the poles without touching them, then bring it back through."
  }
 }

actions/environment_coupled_wholebody/EC05/session_007/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6170a7ae3c9c1086b94f376495e7045cee1c26bb30d7227282cea299c0d601c1
+size 5315950

actions/environment_coupled_wholebody/EC05/session_007/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6f712945344eb34dbeef703ad5f7e6b8a6ffa68945451b2c668d9d1552385373
-size 6184589
+oid sha256:1dba28df7c398dc759f14db722632b8868d1f53b832e5001e5963fedb78305d8
+size 11523475

actions/environment_coupled_wholebody/EC05/session_008/annotations.json

@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "EC05",
+ "instruction": "Push the cart through the gap between the poles without touching them, then bring it back through.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 143.9668,
+   "video": "left_eye",
+   "video_t_start": 0.03920812025464682
+  }
+ ],
+ "episodes": [
+  {
+   "id": "aa9d2686-0459-4232-b550-de9e23995c4a",
+   "segment": "segment1",
+   "action": "EC05",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 138.879,
+   "t_start": 0.0392,
+   "t_end": 138.9182,
+   "instruction": "Push the cart through the gap between the poles without touching them, then bring it back through."
+  }
+ ]
+}

actions/environment_coupled_wholebody/EC05/session_008/cameras/gsi_online_calibration.json

@@ -0,0 +1,257 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.37
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.2202,
+   "gate_fail": [],
+   "held_out_px_after": 0.444,
+   "held_out_px_before": 5.898,
+   "inliers": 4006,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.1988,
+    -0.4594,
+    -1.1128
+   ],
+   "split_deg": 0.0613,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.6164,
+   "gate_fail": [],
+   "held_out_px_after": 0.34,
+   "held_out_px_before": 6.562,
+   "inliers": 5885,
+   "position_fitted": true,
+   "position_mm": [
+    1.71,
+    -10.58,
+    7.87
+   ],
+   "position_sigma_mm": 0.358,
+   "position_split_mm": 4.262,
+   "rotvec_deg": [
+    -0.1671,
+    0.8813,
+    -2.4578
+   ],
+   "split_deg": 0.0822,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 1.675,
+   "gate_fail": [],
+   "held_out_px_after": 0.626,
+   "held_out_px_before": 4.742,
+   "inliers": 1074,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.4784,
+    -0.5358,
+    -0.577
+   ],
+   "split_deg": 0.1426,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.1143,
+   "gate_fail": [],
+   "held_out_px_after": 0.353,
+   "held_out_px_before": 2.599,
+   "inliers": 7405,
+   "position_fitted": true,
+   "position_mm": [
+    5.88,
+    -12.69,
+    8.33
+   ],
+   "position_sigma_mm": 0.332,
+   "position_split_mm": 2.655,
+   "rotvec_deg": [
+    0.1123,
+    -0.2612,
+    -1.0774
+   ],
+   "split_deg": 0.1031,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.0352,
+   "gate_fail": [],
+   "held_out_px_after": 0.361,
+   "held_out_px_before": 4.271,
+   "inliers": 5339,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2843,
+    -0.0228,
+    -2.0152
+   ],
+   "split_deg": 0.0174,
+   "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": "2a971e7315193fb35730682c9dd017aeac58421e88d67bdc9473d88e9367a452",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "51f5b756f18033e5223c5f00030cf673c0019890c440768b8abdaa11eb2a37c0",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "a117d3817e03daadc8b2acb5359f8b49df4aaf23055e05681a2ad850b748bcc3",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "893a2c50cb8acb2022c57e7aa7dc435a72350355f2756500501d5e3ff387ed83",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "dcd7258cc87f2740",
+ "kind": "online_calibration",
+ "output_sha256": "fe078681195032be2f0f32bd7ad952df101e54b7e32add7f514521f2b5471c17",
+ "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": 35.443,
+  "left_eye": 31.444,
+  "left_front": 36.536,
+  "right": 35.673,
+  "right_eye": 33.843,
+  "right_front": 35.51
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   7344571540000,
+   7345571540000,
+   7351571506666,
+   7352571506666,
+   7355571506666,
+   7356571506666,
+   7360571517777,
+   7361571540000,
+   7367571540000,
+   7368571517777,
+   7369571517777,
+   7375571551111,
+   7376571562222,
+   7378571517777,
+   7379571540000,
+   7384571506666,
+   7385571517777,
+   7388571517777,
+   7389571584444,
+   7395571540000,
+   7396571528888,
+   7398571517777,
+   7399571506666,
+   7400571595555,
+   7401571528888,
+   7408571506666,
+   7409571562222,
+   7410571517777,
+   7411571506666,
+   7416571695555,
+   7417571528888,
+   7421571506666,
+   7422571540000,
+   7428571517777,
+   7429571540000,
+   7430571517777,
+   7434571540000,
+   7435571506666,
+   7441571506666,
+   7442571540000,
+   7443571540000,
+   7449571517777,
+   7450571528888,
+   7455571540000,
+   7456571540000,
+   7459571528888,
+   7460571517777,
+   7462571506666,
+   7463571506666,
+   7468571517777,
+   7469571540000,
+   7471571528888,
+   7472571506666,
+   7479571540000,
+   7480571506666,
+   7481571540000
+  ]
+ },
+ "version": 1
+}

actions/environment_coupled_wholebody/EC05/session_008/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7734da23bdba2cc82e98064e70e7dbd200506bb7ae7df1d99ae86b46a239ebad
+size 829613

actions/environment_coupled_wholebody/EC05/session_008/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": {
@@ -508,10 +508,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.4092293818472936
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 12.39,
+    "offset_rotvec": [
+     0.0559,
+     0.1698,
+     0.1218
+    ],
+    "dev_deg": {
+     "median": 12.39,
+     "p90": 25.29
+    },
+    "samples": 4304,
+    "accepted": 4054,
+    "wrist_pos_err_mm_median": 49.6,
+    "per_camera": {
+     "head": {
+      "samples": 4304,
+      "accepted": 4054,
+      "gate_deg": 30.0,
+      "offset_deg": 12.39,
+      "tier": "primary",
+      "dev_deg_median": 12.39,
+      "wrist_pos_err_mm_median": 49.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 16290,
+     "interpolated": 982,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9993,
+    "observed_fraction_of_valid": 0.9993,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.74,
+     "smplx": 2.76
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.7,
+      "p90": 15.0
+     },
+     "registered": {
+      "median": 9.6,
+      "p90": 14.9
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 12.39,
+    "offset_rotvec": [
+     -0.1085,
+     -0.1787,
+     0.0554
+    ],
+    "dev_deg": {
+     "median": 11.88,
+     "p90": 23.68
+    },
+    "samples": 4175,
+    "accepted": 3969,
+    "wrist_pos_err_mm_median": 29.5,
+    "per_camera": {
+     "head": {
+      "samples": 4175,
+      "accepted": 3969,
+      "gate_deg": 30.0,
+      "offset_deg": 12.39,
+      "tier": "primary",
+      "dev_deg_median": 11.88,
+      "wrist_pos_err_mm_median": 29.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15984,
+     "interpolated": 696,
+     "mean_hand": 604,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9651,
+    "observed_fraction_of_valid": 0.9651,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 14.91,
+     "smplx": 1.6
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 14.4,
+      "p90": 19.2
+     },
+     "registered": {
+      "median": 14.1,
+      "p90": 18.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:18:07.925309+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/environment_coupled_wholebody/EC05/session_008",
   "family": "environment_coupled_wholebody",
   "primitive": "EC05",
   "source_session": "20261009/EC05/20261009_021549_session28"
+ },
+ "task": {
+  "primitive": "EC05",
+  "instruction": "Push the cart through the gap between the poles without touching them, then bring it back through."
  }
 }

actions/environment_coupled_wholebody/EC05/session_008/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b28186c74e3bbc692f672e37d69dae7ec3978a8ccb9f7588fb6c6544c56401ca
+size 5722021

actions/environment_coupled_wholebody/EC05/session_008/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:dee9d843f1a6b08a2ebabf118b0e589836922fc7aa2ea83011d70ba0ae8219d8
-size 6641546
+oid sha256:66a2a8c00bbf16cbdfbfee9c55670d0037e7fdcee82b7a11a4db417e6c03792b
+size 12360871

actions/environment_coupled_wholebody/EC05/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": "EC05",
+ "instruction": "Push the cart through the gap between the poles without touching them, then bring it back through.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 128.966656,
+   "video": "left_eye",
+   "video_t_start": 0.038936511877817326
+  }
+ ],
+ "episodes": [
+  {
+   "id": "58ee805c-7466-49c9-a20c-f7efcf7aff26",
+   "segment": "segment1",
+   "action": "EC05",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 125.244,
+   "t_start": 0.0389,
+   "t_end": 125.2829,
+   "instruction": "Push the cart through the gap between the poles without touching them, then bring it back through."
+  }
+ ]
+}

actions/environment_coupled_wholebody/EC05/session_009/cameras/gsi_online_calibration.json

@@ -0,0 +1,258 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.368
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.2691,
+   "gate_fail": [],
+   "held_out_px_after": 0.437,
+   "held_out_px_before": 5.862,
+   "inliers": 3778,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.1148,
+    -0.5153,
+    -1.1541
+   ],
+   "split_deg": 0.0837,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.6739,
+   "gate_fail": [],
+   "held_out_px_after": 0.359,
+   "held_out_px_before": 6.869,
+   "inliers": 5883,
+   "position_fitted": true,
+   "position_mm": [
+    -0.01,
+    -12.4,
+    3.75
+   ],
+   "position_sigma_mm": 0.31,
+   "position_split_mm": 1.612,
+   "rotvec_deg": [
+    -0.0913,
+    0.9019,
+    -2.5156
+   ],
+   "split_deg": 0.0299,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 1.8059,
+   "gate_fail": [],
+   "held_out_px_after": 0.603,
+   "held_out_px_before": 5.192,
+   "inliers": 740,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.6436,
+    -0.5605,
+    -0.4954
+   ],
+   "split_deg": 0.0595,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.1827,
+   "gate_fail": [],
+   "held_out_px_after": 0.374,
+   "held_out_px_before": 2.717,
+   "inliers": 6875,
+   "position_fitted": true,
+   "position_mm": [
+    5.61,
+    -13.28,
+    5.2
+   ],
+   "position_sigma_mm": 0.298,
+   "position_split_mm": 2.597,
+   "rotvec_deg": [
+    0.2163,
+    -0.2771,
+    -1.1293
+   ],
+   "split_deg": 0.0295,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.0467,
+   "gate_fail": [],
+   "held_out_px_after": 0.362,
+   "held_out_px_before": 4.683,
+   "inliers": 5678,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2658,
+    -0.0331,
+    -2.0291
+   ],
+   "split_deg": 0.0067,
+   "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": "b8e31cbe737b29838a3da947977fcd668f9336d3a9833693f4d4cc6e0e03b663",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "92d43015ad2095d07eaba03649320a514bb3552c5b72d1deb2e33eb070567b43",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "08357ca7ff0239e36c35f153e925c6bcd3a41d07a2da86916ccc0734bc58838b",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "e20164125e2ec2e36d1049fd2afcf03d723913826a8cdf27e73e8b4a67d15a67",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "69110cdba069cee8",
+ "kind": "online_calibration",
+ "output_sha256": "7502239e080009fa7ab44a6e178115bda3d8b51499b1501291599e8f14dc1a9c",
+ "overlap": {
+  "left-right": 0.501,
+  "left_eye-left": 0.707,
+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 36.051,
+  "left_eye": 37.663,
+  "left_front": 39.557,
+  "right": 37.147,
+  "right_eye": 40.935,
+  "right_front": 40.16
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   7508089348555,
+   7509089359666,
+   7510089370777,
+   7516089481888,
+   7517089359666,
+   7519089393000,
+   7520089359666,
+   7523089381888,
+   7524089381888,
+   7529089370777,
+   7530089359666,
+   7532089359666,
+   7533089470777,
+   7534089381888,
+   7535089348555,
+   7538089381888,
+   7539089548555,
+   7544089359666,
+   7545089370777,
+   7546089381888,
+   7547089370777,
+   7553089370777,
+   7554089381888,
+   7558089370777,
+   7559089381888,
+   7560089426333,
+   7563089393000,
+   7564089381888,
+   7569089348555,
+   7570089359666,
+   7575089393000,
+   7576089437444,
+   7578089370777,
+   7579089359666,
+   7581089381888,
+   7582089370777,
+   7584089393000,
+   7585089381888,
+   7592089393000,
+   7593089537444,
+   7596089381888,
+   7597089381888,
+   7598089393000,
+   7603089381888,
+   7604089381888,
+   7605089459666,
+   7606089381888,
+   7613089381888,
+   7614089359666,
+   7616089381888,
+   7617089381888,
+   7619089381888,
+   7620089381888,
+   7622089381888,
+   7623089393000,
+   7627089381888,
+   7628089370777
+  ]
+ },
+ "version": 1
+}

actions/environment_coupled_wholebody/EC05/session_009/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4062cc55f2cc7c8301766773c026ddf2bf4ebcb82a169bd252ccdd9e7c8d4cb
+size 743041

actions/environment_coupled_wholebody/EC05/session_009/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": {
@@ -508,10 +508,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.4876383409119658
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 13.04,
+    "offset_rotvec": [
+     0.082,
+     0.1776,
+     0.1164
+    ],
+    "dev_deg": {
+     "median": 11.73,
+     "p90": 26.69
+    },
+    "samples": 3580,
+    "accepted": 3300,
+    "wrist_pos_err_mm_median": 52.2,
+    "per_camera": {
+     "head": {
+      "samples": 3580,
+      "accepted": 3300,
+      "gate_deg": 30.0,
+      "offset_deg": 13.04,
+      "tier": "primary",
+      "dev_deg_median": 11.73,
+      "wrist_pos_err_mm_median": 52.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13226,
+     "interpolated": 578,
+     "mean_hand": 1680,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.8915,
+    "observed_fraction_of_valid": 0.8915,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 14.17,
+     "smplx": 2.12
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 14.0,
+      "p90": 16.5
+     },
+     "registered": {
+      "median": 14.0,
+      "p90": 16.1
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 12.42,
+    "offset_rotvec": [
+     -0.0311,
+     -0.1807,
+     0.1156
+    ],
+    "dev_deg": {
+     "median": 9.95,
+     "p90": 19.55
+    },
+    "samples": 3756,
+    "accepted": 3587,
+    "wrist_pos_err_mm_median": 28.6,
+    "per_camera": {
+     "head": {
+      "samples": 3756,
+      "accepted": 3587,
+      "gate_deg": 30.0,
+      "offset_deg": 12.42,
+      "tier": "primary",
+      "dev_deg_median": 9.95,
+      "wrist_pos_err_mm_median": 28.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14388,
+     "interpolated": 512,
+     "mean_hand": 584,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9623,
+    "observed_fraction_of_valid": 0.9623,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 14.33,
+     "smplx": 1.53
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 16.5,
+      "p90": 19.6
+     },
+     "registered": {
+      "median": 16.1,
+      "p90": 19.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:17:58.836392+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/environment_coupled_wholebody/EC05/session_009",
   "family": "environment_coupled_wholebody",
   "primitive": "EC05",
   "source_session": "20261009/EC05/20261009_021829_session29"
+ },
+ "task": {
+  "primitive": "EC05",
+  "instruction": "Push the cart through the gap between the poles without touching them, then bring it back through."
  }
 }

actions/environment_coupled_wholebody/EC05/session_009/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6abb911dc15b37f8771805911da014cbe88a5335f5aa6ad631c0cd1a2989e9e
+size 4974119

actions/environment_coupled_wholebody/EC05/session_009/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6a9ba70b4a62808d07adcb6a1f68c18f787dfb1c5a713c675a2202cafa1a370b
-size 5961461
+oid sha256:e29a9e4ca6dae9f5a3f9e915b31bc7a20091544d1090de2180f9f51f5c7f5832
+size 10861203

actions/environment_coupled_wholebody/EC05/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": "EC05",
+ "instruction": "Push the cart through the gap between the poles without touching them, then bring it back through.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 113.966622,
+   "video": "left_eye",
+   "video_t_start": 0.03960548861685115
+  }
+ ],
+ "episodes": [
+  {
+   "id": "63fe2b69-11ad-4606-99f9-f35b47334e9d",
+   "segment": "segment1",
+   "action": "EC05",
+   "quality": "valid",
+   "start_s": 2.026,
+   "end_s": 103.577,
+   "t_start": 2.0656,
+   "t_end": 103.6166,
+   "instruction": "Push the cart through the gap between the poles without touching them, then bring it back through."
+  }
+ ]
+}

actions/environment_coupled_wholebody/EC05/session_010/cameras/gsi_online_calibration.json

@@ -0,0 +1,257 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.435
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 2.2623,
+   "gate_fail": [],
+   "held_out_px_after": 0.662,
+   "held_out_px_before": 11.183,
+   "inliers": 1716,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.5581,
+    -1.3828,
+    0.8823
+   ],
+   "split_deg": 0.1804,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.683,
+   "gate_fail": [],
+   "held_out_px_after": 0.563,
+   "held_out_px_before": 3.77,
+   "inliers": 2372,
+   "position_fitted": true,
+   "position_mm": [
+    -1.0,
+    -16.34,
+    5.49
+   ],
+   "position_sigma_mm": 0.28,
+   "position_split_mm": 2.027,
+   "rotvec_deg": [
+    -0.087,
+    -0.2387,
+    0.634
+   ],
+   "split_deg": 0.0665,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 3.3338,
+   "gate_fail": [],
+   "held_out_px_after": 0.61,
+   "held_out_px_before": 8.27,
+   "inliers": 1928,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.9085,
+    -0.9804,
+    2.5516
+   ],
+   "split_deg": 0.186,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.8602,
+   "gate_fail": [],
+   "held_out_px_after": 0.438,
+   "held_out_px_before": 5.766,
+   "inliers": 3269,
+   "position_fitted": true,
+   "position_mm": [
+    -1.4,
+    -15.95,
+    2.58
+   ],
+   "position_sigma_mm": 0.213,
+   "position_split_mm": 2.601,
+   "rotvec_deg": [
+    0.3451,
+    -0.918,
+    1.5806
+   ],
+   "split_deg": 0.0864,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.9245,
+   "gate_fail": [],
+   "held_out_px_after": 0.357,
+   "held_out_px_before": 5.48,
+   "inliers": 4195,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.7309,
+    -0.4138,
+    -0.3866
+   ],
+   "split_deg": 0.0139,
+   "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": "fbb72ab187486d1927cc0cbf87a873a3b3f693cdd710e3c0ef03b2429ce7321a",
+   "source_sha256": "2bf43346f9825da1c051096d46ceb924252959c0c3fed4ac9c166c6096121ae0"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "fd543ec0fc8b0a6f5c7e8e3a8bcdf0ecd27b603384715ee1f63c15f5b3268f76",
+   "source_sha256": "b80f390816142bc598f6a58e17810083d07270f17802c79b0d33dade12e1a7ed"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "027b6cdeebbc4e635045e93a587202b84594c48397c3a25c36dc1a27481d6376",
+   "source_sha256": "55ee2a9af25410709c73762b726e1a41e5450b277090a5256571601dd5fd719b"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "e305b32731028966a87b5669bf8914f8bc743717420454433748e43191bc102f",
+   "source_sha256": "b2fcef709086e19cb082ae12586aebd1a6fa9a92db90015c1c5a641f4588dfc7"
+  }
+ },
+ "input_fingerprint": "71be4699d64a6612",
+ "kind": "online_calibration",
+ "output_sha256": "9a2fc793d542d53f65d027ecce7be0c2e22789a83d03eb4cf2a66e811b9e8fba",
+ "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": 36.933,
+  "left_eye": 29.837,
+  "left_front": 41.013,
+  "right": 35.312,
+  "right_eye": 29.306,
+  "right_front": 40.58
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   6335546861000,
+   6336546927666,
+   6338546861000,
+   6339546861000,
+   6343546927666,
+   6344546849888,
+   6345546861000,
+   6346546961000,
+   6348546927666,
+   6349546872111,
+   6353546927666,
+   6354546861000,
+   6355546849888,
+   6356546861000,
+   6360546849888,
+   6361546849888,
+   6365546849888,
+   6366546861000,
+   6368546883222,
+   6369546883222,
+   6370546872111,
+   6376546861000,
+   6377546927666,
+   6379546861000,
+   6380546872111,
+   6383546849888,
+   6384546861000,
+   6385546927666,
+   6389546872111,
+   6390546872111,
+   6392546883222,
+   6393546849888,
+   6398546994333,
+   6399546849888,
+   6400546849888,
+   6401546994333,
+   6405546927666,
+   6406546861000,
+   6408546849888,
+   6409546849888,
+   6412546849888,
+   6413546916555,
+   6416546949888,
+   6417546849888,
+   6418546927666,
+   6419546861000,
+   6424546849888,
+   6425546849888,
+   6428546849888,
+   6429546849888,
+   6430546849888,
+   6435546849888,
+   6436546872111,
+   6439546961000,
+   6440546883222,
+   6441546872111
+  ]
+ },
+ "version": 1
+}

actions/environment_coupled_wholebody/EC05/session_010/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25207a8cd1743e7038d3c39eb917c53a65c0b37c94949ff15e1c3c932375fc0d
+size 655053

actions/environment_coupled_wholebody/EC05/session_010/meta.json

@@ -378,8 +378,8 @@
   "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": {
@@ -443,35 +443,46 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 180.0,
+    "Q_deg": 179.84,
     "Q_rotvec": [
-     -2.98442,
-     0.43848,
-     0.87784
+     -0.2404,
+     -2.52512,
+     1.84885
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 173.1,
-    "opposite_sign_bend_deg": 131.4,
+    "q_source": "gsi (no marker candidate within 45 deg)",
+    "gsi": {
+     "reliable": true,
+     "frames": 3000,
+     "inlier_frac": 0.984,
+     "inlier_spread_deg": 11.11,
+     "marker_Q_to_gsi_deg": {
+      "1": 179.8,
+      "-1": 165.6
+     }
+    },
+    "wrist_bend_deg_median": 88.3,
+    "opposite_sign_bend_deg": 176.1,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 6.55,
     "hand_vs_marker_frame_deg": {
-     "before": 174.02,
-     "after": 6.55
+     "before": 6.55,
+     "after": 177.9
     },
     "markers_on_wrist": [
      "LHandIn",
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 170.34,
+     "twist_moved_deg": -14.21,
      "wrist_twist_deg_after": {
       "median": 0.0,
       "iqr": [
-       -3.4,
-       2.8
+       -7.0,
+       7.3
       ]
      },
-     "wrist_total_deg_median_after": 92.3,
+     "wrist_total_deg_median_after": 87.5,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -484,11 +495,22 @@
     "status": "corrected",
     "Q_deg": 0.0,
     "Q_rotvec": [
-     0.0,
      -0.0,
+     0.0,
      0.0
     ],
     "in_out_sign": 1,
+    "q_source": "markers (GSI confirms)",
+    "gsi": {
+     "reliable": true,
+     "frames": 3000,
+     "inlier_frac": 0.998,
+     "inlier_spread_deg": 7.34,
+     "marker_Q_to_gsi_deg": {
+      "1": 19.0,
+      "-1": 178.7
+     }
+    },
     "wrist_bend_deg_median": 30.8,
     "opposite_sign_bend_deg": 174.8,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
@@ -505,7 +527,7 @@
     "forearm_twist": {
      "twist_moved_deg": 0.0,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": 0.0,
       "iqr": [
        -2.3,
        2.0
@@ -519,16 +541,130 @@
     },
     "frames_used": 1335
    },
-   "generated_at_utc": "2026-10-28T06:40:09.945702+00:00",
+   "generated_at_utc": "2026-11-04T04:15:29.232822+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 0.28,
+    "offset_rotvec": [
+     0.002,
+     0.0027,
+     0.0035
+    ],
+    "dev_deg": {
+     "median": 11.26,
+     "p90": 22.37
+    },
+    "samples": 3298,
+    "accepted": 3246,
+    "wrist_pos_err_mm_median": 146.9,
+    "per_camera": {
+     "head": {
+      "samples": 3298,
+      "accepted": 3246,
+      "gate_deg": 30.0,
+      "offset_deg": 0.28,
+      "tier": "primary",
+      "dev_deg_median": 11.26,
+      "wrist_pos_err_mm_median": 146.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12993,
+     "interpolated": 150,
+     "mean_hand": 213,
+     "no_body_fit": 328
+    },
+    "observed_fraction": 0.9605,
+    "observed_fraction_of_valid": 0.9841,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 57.99,
+     "smplx": 56.25
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 68.9,
+      "p90": 79.0
+     },
+     "registered": {
+      "median": 68.9,
+      "p90": 79.0
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 18.93,
+    "offset_rotvec": [
+     -0.0966,
+     -0.0998,
+     0.2997
+    ],
+    "dev_deg": {
+     "median": 7.41,
+     "p90": 13.81
+    },
+    "samples": 3330,
+    "accepted": 3323,
+    "wrist_pos_err_mm_median": 30.2,
+    "per_camera": {
+     "head": {
+      "samples": 3330,
+      "accepted": 3323,
+      "gate_deg": 30.0,
+      "offset_deg": 18.93,
+      "tier": "primary",
+      "dev_deg_median": 7.41,
+      "wrist_pos_err_mm_median": 30.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13299,
+     "interpolated": 52,
+     "mean_hand": 5,
+     "no_body_fit": 328
+    },
+    "observed_fraction": 0.9757,
+    "observed_fraction_of_valid": 0.9996,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 8.16,
+     "smplx": NaN
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": NaN,
+      "p90": NaN
+     },
+     "registered": {
+      "median": NaN,
+      "p90": NaN
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-04T04:17:09.176225+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/environment_coupled_wholebody/EC05/session_010",
   "family": "environment_coupled_wholebody",
   "primitive": "EC05",
   "source_session": "20261017/EC05/20261017_022529_session18"
  },
+ "task": {
+  "primitive": "EC05",
+  "instruction": "Push the cart through the gap between the poles without touching them, then bring it back through."
+ },
  "objects": [
   {
    "name": "CcOrange",

actions/environment_coupled_wholebody/EC05/session_010/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:577f2848dad1fd0efd11fc425a774eb243b89cbf7213cbbecd76ab9d24287780
+size 4585884

actions/environment_coupled_wholebody/EC05/session_010/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:740343cdc57c298e1bd12c9165535ac1dc15efde636616433c3b167a61257acc
-size 5121454
+oid sha256:85dc6566a317cb77630333868fc9159bf2336b31933ea4f85836939d66c8fdd2
+size 9585896

actions/environment_coupled_wholebody/EC05/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": "EC05",
+ "instruction": "Push the cart through the gap between the poles without touching them, then bring it back through.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 119.966633,
+   "video": "left_eye",
+   "video_t_start": 0.039822410049815724
+  }
+ ],
+ "episodes": [
+  {
+   "id": "4050d00d-37a8-4a7f-a4ad-d382d747b501",
+   "segment": "segment1",
+   "action": "EC05",
+   "quality": "valid",
+   "start_s": 2.614,
+   "end_s": 111.691,
+   "t_start": 2.6538,
+   "t_end": 111.7308,
+   "instruction": "Push the cart through the gap between the poles without touching them, then bring it back through."
+  }
+ ]
+}

actions/environment_coupled_wholebody/EC05/session_011/cameras/gsi_online_calibration.json

@@ -0,0 +1,260 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.427
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 2.3036,
+   "gate_fail": [],
+   "held_out_px_after": 0.592,
+   "held_out_px_before": 11.877,
+   "inliers": 1532,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.6436,
+    -1.3634,
+    0.8638
+   ],
+   "split_deg": 0.0975,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.7322,
+   "gate_fail": [],
+   "held_out_px_after": 0.541,
+   "held_out_px_before": 4.049,
+   "inliers": 2603,
+   "position_fitted": true,
+   "position_mm": [
+    -0.66,
+    -16.58,
+    4.39
+   ],
+   "position_sigma_mm": 0.246,
+   "position_split_mm": 2.589,
+   "rotvec_deg": [
+    -0.0398,
+    -0.2464,
+    0.6884
+   ],
+   "split_deg": 0.0374,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 3.3308,
+   "gate_fail": [],
+   "held_out_px_after": 0.619,
+   "held_out_px_before": 8.025,
+   "inliers": 1949,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.8837,
+    -1.0142,
+    2.553
+   ],
+   "split_deg": 0.0252,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.8294,
+   "gate_fail": [],
+   "held_out_px_after": 0.43,
+   "held_out_px_before": 5.787,
+   "inliers": 3468,
+   "position_fitted": true,
+   "position_mm": [
+    -1.33,
+    -14.58,
+    4.83
+   ],
+   "position_sigma_mm": 0.224,
+   "position_split_mm": 2.254,
+   "rotvec_deg": [
+    0.3389,
+    -0.8524,
+    1.5828
+   ],
+   "split_deg": 0.0288,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.8907,
+   "gate_fail": [],
+   "held_out_px_after": 0.367,
+   "held_out_px_before": 5.251,
+   "inliers": 4117,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.7239,
+    -0.3628,
+    -0.3713
+   ],
+   "split_deg": 0.0202,
+   "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": "5b87c6a4fb394141a2a1023cf40044c3ffe84d446a436e0c3c6bce8ef18bd81a",
+   "source_sha256": "2bf43346f9825da1c051096d46ceb924252959c0c3fed4ac9c166c6096121ae0"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "1621daf18d4bbc720e37f2e28c5c5758e49ead0e7a54d979665fc97cf5d7c27f",
+   "source_sha256": "b80f390816142bc598f6a58e17810083d07270f17802c79b0d33dade12e1a7ed"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "d2a9970db54fbb60afc16889f013f8c8d7be10cda480734464d8eb58efd2e530",
+   "source_sha256": "55ee2a9af25410709c73762b726e1a41e5450b277090a5256571601dd5fd719b"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "5fd7e4e1d6e20470dd9e066ce1ebab03c7a2004dbe24f9b31b0a95f2997ceb4e",
+   "source_sha256": "b2fcef709086e19cb082ae12586aebd1a6fa9a92db90015c1c5a641f4588dfc7"
+  }
+ },
+ "input_fingerprint": "189821a5147182a4",
+ "kind": "online_calibration",
+ "output_sha256": "36766fc892a54699530f05fdfe181d1f32f55e938abe3df35e06fbb3fe08af42",
+ "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": 43.683,
+  "left_eye": 38.99,
+  "left_front": 44.807,
+  "right": 41.312,
+  "right_eye": 38.392,
+  "right_front": 44.748
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   6556252631000,
+   6557252475444,
+   6563252553222,
+   6564252475444,
+   6566252475444,
+   6567252497666,
+   6569252508777,
+   6570252464333,
+   6572252608777,
+   6573252486555,
+   6576252486555,
+   6577252497666,
+   6583252497666,
+   6584252486555,
+   6586252486555,
+   6587252542111,
+   6590252475444,
+   6591252564333,
+   6593252486555,
+   6594252486555,
+   6597252475444,
+   6598252564333,
+   6601252475444,
+   6602252486555,
+   6603252475444,
+   6604252486555,
+   6609252497666,
+   6610252608777,
+   6613252497666,
+   6614252497666,
+   6615252608777,
+   6616252475444,
+   6621252475444,
+   6622252553222,
+   6625252575444,
+   6626252486555,
+   6629252497666,
+   6630252475444,
+   6631252642111,
+   6632252519888,
+   6635252475444,
+   6636252608777,
+   6641252475444,
+   6642252619888,
+   6644252553222,
+   6645252464333,
+   6648252475444,
+   6649252475444,
+   6653252497666,
+   6654252486555,
+   6656252497666,
+   6657252497666,
+   6661252542111,
+   6662252497666,
+   6663252553222,
+   6669252497666,
+   6670252497666,
+   6672252475444,
+   6673252497666
+  ]
+ },
+ "version": 1
+}

actions/environment_coupled_wholebody/EC05/session_011/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b24ba642c766b53021853ab67fe4810ca05b7d5d2f825ba0b3da809d244283b
+size 690021

actions/environment_coupled_wholebody/EC05/session_011/meta.json

@@ -379,8 +379,8 @@
   "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": {
@@ -439,35 +439,46 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 180.0,
+    "Q_deg": 174.69,
     "Q_rotvec": [
-     -2.98442,
-     0.43848,
-     0.87784
+     0.28912,
+     2.47621,
+     -1.75516
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 173.0,
-    "opposite_sign_bend_deg": 129.0,
+    "q_source": "gsi (no marker candidate within 45 deg)",
+    "gsi": {
+     "reliable": true,
+     "frames": 3000,
+     "inlier_frac": 0.984,
+     "inlier_spread_deg": 12.54,
+     "marker_Q_to_gsi_deg": {
+      "1": 174.7,
+      "-1": 164.2
+     }
+    },
+    "wrist_bend_deg_median": 96.3,
+    "opposite_sign_bend_deg": 175.6,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 4.86,
     "hand_vs_marker_frame_deg": {
-     "before": 176.27,
-     "after": 4.86
+     "before": 4.86,
+     "after": 175.14
     },
     "markers_on_wrist": [
      "LHandIn",
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 170.15,
+     "twist_moved_deg": -19.38,
      "wrist_twist_deg_after": {
-      "median": 0.0,
+      "median": -0.0,
       "iqr": [
-       -2.9,
-       3.6
+       -8.4,
+       8.3
       ]
      },
-     "wrist_total_deg_median_after": 89.9,
+     "wrist_total_deg_median_after": 95.3,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -480,11 +491,22 @@
     "status": "corrected",
     "Q_deg": 0.0,
     "Q_rotvec": [
-     0.0,
      -0.0,
-     0.0
+     -0.0,
+     -0.0
     ],
     "in_out_sign": 1,
+    "q_source": "markers (GSI confirms)",
+    "gsi": {
+     "reliable": true,
+     "frames": 3000,
+     "inlier_frac": 0.991,
+     "inlier_spread_deg": 7.96,
+     "marker_Q_to_gsi_deg": {
+      "1": 19.0,
+      "-1": 178.7
+     }
+    },
     "wrist_bend_deg_median": 27.8,
     "opposite_sign_bend_deg": 174.3,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
@@ -500,7 +522,7 @@
     "forearm_twist": {
      "twist_moved_deg": 0.0,
      "wrist_twist_deg_after": {
-      "median": 0.0,
+      "median": -0.0,
       "iqr": [
        -4.0,
        3.3
@@ -515,16 +537,130 @@
     },
     "frames_used": 1307
    },
-   "generated_at_utc": "2026-10-28T06:40:10.320416+00:00",
+   "generated_at_utc": "2026-11-04T04:15:32.684365+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 0.32,
+    "offset_rotvec": [
+     -0.0053,
+     0.001,
+     0.0016
+    ],
+    "dev_deg": {
+     "median": 12.69,
+     "p90": 23.42
+    },
+    "samples": 3209,
+    "accepted": 3161,
+    "wrist_pos_err_mm_median": 148.4,
+    "per_camera": {
+     "head": {
+      "samples": 3209,
+      "accepted": 3161,
+      "gate_deg": 30.0,
+      "offset_deg": 0.32,
+      "tier": "primary",
+      "dev_deg_median": 12.69,
+      "wrist_pos_err_mm_median": 148.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12670,
+     "interpolated": 390,
+     "mean_hand": 6,
+     "no_body_fit": 1338
+    },
+    "observed_fraction": 0.9067,
+    "observed_fraction_of_valid": 0.9995,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 54.65,
+     "smplx": 54.74
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 67.5,
+      "p90": 77.3
+     },
+     "registered": {
+      "median": 67.5,
+      "p90": 77.3
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 19.35,
+    "offset_rotvec": [
+     -0.0604,
+     -0.0863,
+     0.3209
+    ],
+    "dev_deg": {
+     "median": 7.89,
+     "p90": 15.58
+    },
+    "samples": 3254,
+    "accepted": 3226,
+    "wrist_pos_err_mm_median": 32.0,
+    "per_camera": {
+     "head": {
+      "samples": 3254,
+      "accepted": 3226,
+      "gate_deg": 30.0,
+      "offset_deg": 19.35,
+      "tier": "primary",
+      "dev_deg_median": 7.89,
+      "wrist_pos_err_mm_median": 32.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12922,
+     "interpolated": 138,
+     "mean_hand": 6,
+     "no_body_fit": 1338
+    },
+    "observed_fraction": 0.9067,
+    "observed_fraction_of_valid": 0.9995,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 7.43,
+     "smplx": 1.84
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.0,
+      "p90": 7.9
+     },
+     "registered": {
+      "median": 6.8,
+      "p90": 7.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-04T04:17:28.754768+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/environment_coupled_wholebody/EC05/session_011",
   "family": "environment_coupled_wholebody",
   "primitive": "EC05",
   "source_session": "20261017/EC05/20261017_022913_session19"
  },
+ "task": {
+  "primitive": "EC05",
+  "instruction": "Push the cart through the gap between the poles without touching them, then bring it back through."
+ },
  "objects": [
   {
    "name": "CcOrange",

actions/environment_coupled_wholebody/EC05/session_011/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7e28374fcd686845b97bd4ca7dd633c52202cb8f4674e32dd1344c2b1e31606
+size 4814870

actions/environment_coupled_wholebody/EC05/session_011/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d5f4da17758fa48097a32297ecb0558c4e45497bc0b59a2ef8f41a49fcb6a110
-size 5025115
+oid sha256:f1f39daa69ebafe9be679aa7d5e7267159aaf33a26b41ad89e7a3914b489590e
+size 9418004