Release update 2026-11-05: new sessions, instructions, annotations (part 95)

.gitattributes

@@ -46791,3 +46791,21 @@ actions/locomanipulation/LM55/session_020/raw/sensors/robowrist_mag_left.db filt
 actions/locomanipulation/LM55/session_020/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM55/session_021/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM55/session_021/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM55/session_021/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM55/session_021/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM55/session_021/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM55/session_021/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM55/session_021/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM55/session_021/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM55/session_021/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM56/session_006/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM56/session_006/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM56/session_006/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM56/session_006/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM56/session_006/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM56/session_006/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM56/session_006/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM56/session_006/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM56/session_006/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM56/session_007/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM56/session_007/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text

actions/locomanipulation/LM55/session_021/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a458c6a413be1236e977626f07d0619e59d5b0f7a80f999a380ed04620fce636
+size 1204224

actions/locomanipulation/LM55/session_021/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82fccc01639faafb4f78f8640dc86df81a32b2d38fdbedc2cea1d41df3e6a6d6
+size 1159168

actions/locomanipulation/LM55/session_021/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b55360ffc719b0aa7e5d063a33d629b5749930a0d7194776b7757a5fa61f3721
+size 319488

actions/locomanipulation/LM55/session_021/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81700410f36eb91e1f3b8faaa3761bbf1e66b313a17e1dd43e34a808bc439ed6
+size 1171456

actions/locomanipulation/LM55/session_021/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f0acfb509ea277f7749eff8a90acca00e45490980513ef7be472460d4ee236a
+size 1167360

actions/locomanipulation/LM55/session_021/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66ca77e9134b731195ba2184a08a5187591ff0cea846276ceabb968e66a8634b
+size 303104

actions/locomanipulation/LM55/session_021/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f6e88fcbf470da884c3cda020d528a65b40e7740489f7c00d7ae08e4442f019
+size 303104

actions/locomanipulation/LM55/session_021/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3266a4aed2925858512e477c6648806ca095abbdbc97ee0aeb33ae1eef6b0b87
+size 1217814

actions/locomanipulation/LM55/session_021/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:441d76b261e48a2a27f61f3b048d5d65be0d133643f5da2782376612ec327d30
+size 109170

actions/locomanipulation/LM55/session_021/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c77f5e7f6d82ae87fc616bff9f1994680b713d2e0ca3247e4111258ca1581ee
+size 1302883

actions/locomanipulation/LM55/session_021/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8849a56b8a6e229c72cf8875329fb2d97fbcc49862fe9b13f6b9c094950c737
+size 250436

actions/locomanipulation/LM55/session_021/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6709c089c39105b308951492937fe355aacac4d56a3ad350eb7e2f99afa21523
+size 238188

actions/locomanipulation/LM55/session_021/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5cad5d5b3f424a46e6206abbc23157b8bff6a6d23c56bf1bad242239fdc5a1c
+size 58529328

actions/locomanipulation/LM55/session_021/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f3c43267ba88750e9639324b9abd9d239b99fb48d860b91b72748c387734012
+size 58533678

actions/locomanipulation/LM55/session_021/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c021a51b9208ed1038988544180833f13ccdea625b1a0ce90194dcc8c284a68
+size 58585963

actions/locomanipulation/LM55/session_021/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4250cb9f663713f3c1ded820a4027a988abf2e5bf82a2f81e27288e1b25a7d36
+size 58555597

actions/locomanipulation/LM55/session_021/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b66f1f683dc318f092f369c721dc90ce61a81764a152c80202aed56900939f24
+size 58576338

actions/locomanipulation/LM55/session_021/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcb7789ae3d8fb397a76a5d506caa676bc15947a15b16f3f06ec0963fbb55706
+size 58528739

actions/locomanipulation/LM55/session_021/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37b62c9b3eb52d6a518d178779a3e5e53bb89a948bd3360dc5b9c7108feda1e3
+size 38544002

actions/locomanipulation/LM55/session_021/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d4b0a346977a17cf2f1d0c8d2295a2ccc5014260430f9f298e34f5d608b493d
+size 38935489

actions/locomanipulation/LM55/session_021/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9df0bb94458f7421e8b7b528c651bbd8e37c2326e8cfb18bd015f5ab35236dbc
+size 40166305

actions/locomanipulation/LM56/session_001/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": "LM56",
+ "instruction": "Carry the object across the room and place it on the shelf just at the top of your comfortable reach. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 113.966644,
+   "video": "left_eye",
+   "video_t_start": 0.039205920947498196
+  }
+ ],
+ "episodes": [
+  {
+   "id": "0815a722-4974-46e9-b563-9408e57a894b",
+   "segment": "segment1",
+   "action": "LM56",
+   "quality": "valid",
+   "start_s": 2.085,
+   "end_s": 109.177,
+   "t_start": 2.1242,
+   "t_end": 109.2162,
+   "instruction": "Carry the object across the room and place it on the shelf just at the top of your comfortable reach. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}

actions/locomanipulation/LM56/session_001/cameras/gsi_online_calibration.json

@@ -0,0 +1,259 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.419
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.0276,
+   "gate_fail": [],
+   "held_out_px_after": 0.532,
+   "held_out_px_before": 4.569,
+   "inliers": 1678,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.5126,
+    -0.3378,
+    -0.824
+   ],
+   "split_deg": 0.0449,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.829,
+   "gate_fail": [],
+   "held_out_px_after": 0.425,
+   "held_out_px_before": 6.067,
+   "inliers": 3271,
+   "position_fitted": true,
+   "position_mm": [
+    8.44,
+    -17.52,
+    5.62
+   ],
+   "position_sigma_mm": 0.191,
+   "position_split_mm": 1.012,
+   "rotvec_deg": [
+    -0.0998,
+    0.5419,
+    -1.744
+   ],
+   "split_deg": 0.0212,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 1.2393,
+   "gate_fail": [],
+   "held_out_px_after": 0.616,
+   "held_out_px_before": 3.949,
+   "inliers": 1701,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.1734,
+    -0.3886,
+    -0.09
+   ],
+   "split_deg": 0.093,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.6637,
+   "gate_fail": [],
+   "held_out_px_after": 0.391,
+   "held_out_px_before": 3.093,
+   "inliers": 3209,
+   "position_fitted": true,
+   "position_mm": [
+    6.98,
+    -18.64,
+    4.95
+   ],
+   "position_sigma_mm": 0.212,
+   "position_split_mm": 1.52,
+   "rotvec_deg": [
+    0.0848,
+    -0.5353,
+    -0.3831
+   ],
+   "split_deg": 0.0063,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.3774,
+   "gate_fail": [],
+   "held_out_px_after": 0.376,
+   "held_out_px_before": 4.445,
+   "inliers": 3556,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.4488,
+    -0.1097,
+    -1.2977
+   ],
+   "split_deg": 0.0051,
+   "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": "84c7d1ba2a74d4bd952e360f9f67ae23d9f0ebadc0452f3b7f31870319b4a3be",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "b630c0fce68a9b43ad163581d99466299145acf64ec216bba4ec6d5fa16331c1",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "9334b9a5dba3483a5f9255aace2d327d5f22d7192442b73f01d0b5b10bcb1133",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "814de5bf17b18e1a56cc253a0b2b0a71faa145fd9fa79cddf30e9aa99b067781",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "e38a3477abc0cac2",
+ "kind": "online_calibration",
+ "output_sha256": "3fe703083b39873b72be2ae763d777bc0ad367ee1f5304c7c03da55e3e2b0e2b",
+ "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": 44.204,
+  "left_eye": 49.234,
+  "left_front": 47.498,
+  "right": 49.379,
+  "right_eye": 47.02,
+  "right_front": 51.866
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   6731672900000,
+   6732672944444,
+   6735672888888,
+   6736672877777,
+   6741672888888,
+   6742673022222,
+   6744672877777,
+   6745672877777,
+   6748672877777,
+   6749672866666,
+   6752672877777,
+   6753672900000,
+   6754672866666,
+   6758672900000,
+   6759672877777,
+   6762672877777,
+   6763672911111,
+   6764672888888,
+   6765673000000,
+   6769672877777,
+   6770672877777,
+   6773672900000,
+   6774672866666,
+   6777672900000,
+   6778672877777,
+   6780672877777,
+   6781673055555,
+   6784672988888,
+   6785672911111,
+   6788672877777,
+   6789672888888,
+   6790672911111,
+   6793672888888,
+   6794672866666,
+   6797672877777,
+   6798672888888,
+   6801672877777,
+   6802672888888,
+   6805672877777,
+   6806673055555,
+   6809672888888,
+   6810672877777,
+   6811672866666,
+   6812672888888,
+   6814672900000,
+   6815673033333,
+   6819673044444,
+   6820672877777,
+   6822672966666,
+   6823672900000,
+   6828672900000,
+   6829672877777,
+   6831672900000,
+   6832672877777,
+   6835672900000,
+   6836672900000,
+   6838672866666,
+   6839672888888
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM56/session_001/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b223687a76aa8f23ec97a7372d2fb7cc6538ff20c7dd3371455ce594bc63e5d
+size 651464

actions/locomanipulation/LM56/session_001/meta.json

@@ -601,5 +601,9 @@
   "family": "locomanipulation",
   "primitive": "LM56",
   "source_session": "20260916/LM56/20260916_020944_session25"
+ },
+ "task": {
+  "primitive": "LM56",
+  "instruction": "Carry the object across the room and place it on the shelf just at the top of your comfortable reach. Keep going until the operator says stop; one object at a time, and do not rush between trips."
  }
 }

actions/locomanipulation/LM56/session_001/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1ea3fd777aac156bb6a47cea42b9049bc470eaa25685476cc6ccc0188c8a5c4
+size 4118144

actions/locomanipulation/LM56/session_002/annotations.json

@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "LM56",
+ "instruction": "Carry the object across the room and place it on the shelf just at the top of your comfortable reach. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 118.966711,
+   "video": "left_eye",
+   "video_t_start": 0.03928698164694078
+  }
+ ],
+ "episodes": [
+  {
+   "id": "f7bc45ce-48b7-4553-91e6-3ca279df7f89",
+   "segment": "segment1",
+   "action": "LM56",
+   "quality": "valid",
+   "start_s": 1.327,
+   "end_s": 114.553,
+   "t_start": 1.3663,
+   "t_end": 114.5923,
+   "instruction": "Carry the object across the room and place it on the shelf just at the top of your comfortable reach. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}

actions/locomanipulation/LM56/session_002/cameras/gsi_online_calibration.json

@@ -0,0 +1,255 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.417
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.1135,
+   "gate_fail": [],
+   "held_out_px_after": 0.501,
+   "held_out_px_before": 4.872,
+   "inliers": 1786,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.6096,
+    -0.3003,
+    -0.8821
+   ],
+   "split_deg": 0.0826,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9176,
+   "gate_fail": [],
+   "held_out_px_after": 0.446,
+   "held_out_px_before": 6.296,
+   "inliers": 3378,
+   "position_fitted": true,
+   "position_mm": [
+    7.11,
+    -17.65,
+    4.72
+   ],
+   "position_sigma_mm": 0.203,
+   "position_split_mm": 4.157,
+   "rotvec_deg": [
+    0.0081,
+    0.5612,
+    -1.8336
+   ],
+   "split_deg": 0.0776,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.4798,
+   "gate_fail": [],
+   "held_out_px_after": 0.638,
+   "held_out_px_before": 4.002,
+   "inliers": 1432,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.3879,
+    -0.5085,
+    -0.0715
+   ],
+   "split_deg": 0.0866,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.6907,
+   "gate_fail": [],
+   "held_out_px_after": 0.382,
+   "held_out_px_before": 3.188,
+   "inliers": 3450,
+   "position_fitted": true,
+   "position_mm": [
+    6.56,
+    -19.4,
+    5.7
+   ],
+   "position_sigma_mm": 0.197,
+   "position_split_mm": 3.721,
+   "rotvec_deg": [
+    0.108,
+    -0.5261,
+    -0.4342
+   ],
+   "split_deg": 0.0875,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.3712,
+   "gate_fail": [],
+   "held_out_px_after": 0.391,
+   "held_out_px_before": 4.89,
+   "inliers": 3422,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.4317,
+    -0.0884,
+    -1.2985
+   ],
+   "split_deg": 0.0144,
+   "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": "36c43dccd550b39ad76001fc9ac39b5a5149b652e8e42711c55b782ac3840ba4",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "add6a766b4ae8ab45c72108c2a41ac9c979a9a8216e5fd1ce3d5634d617c9cf1",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "096ada8d6cf29a3aa2670d4ad57486c038007908e255ff92bcec0a9f6c51cec5",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "33044baa1776133e4c24147759cb5f65f445d0f66affca2d9e4b54927417dd58",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "47d83ebe5fa2876e",
+ "kind": "online_calibration",
+ "output_sha256": "114a004b9f753548bb2f1c81404b2aa182803137ee6425f497cf1dcc552bdd13",
+ "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": 47.61,
+  "left_eye": 58.486,
+  "left_front": 52.924,
+  "right": 48.619,
+  "right_eye": 57.67,
+  "right_front": 52.596
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   6868535700222,
+   6869535566888,
+   6870535544666,
+   6871535689111,
+   6876535544666,
+   6877535711333,
+   6878535544666,
+   6881535566888,
+   6882535544666,
+   6885535544666,
+   6886535589111,
+   6889535566888,
+   6890535555777,
+   6895535533555,
+   6896535533555,
+   6897535533555,
+   6900535578000,
+   6901535533555,
+   6905535566888,
+   6906535578000,
+   6909535544666,
+   6910535689111,
+   6913535533555,
+   6914535578000,
+   6916535533555,
+   6917535555777,
+   6920535566888,
+   6921535544666,
+   6924535533555,
+   6925535544666,
+   6928535533555,
+   6929535544666,
+   6932535566888,
+   6933535555777,
+   6936535566888,
+   6937535533555,
+   6938535555777,
+   6943535544666,
+   6944535578000,
+   6945535589111,
+   6946535578000,
+   6950535689111,
+   6951535533555,
+   6955535566888,
+   6956535533555,
+   6957535533555,
+   6960535566888,
+   6961535533555,
+   6965535711333,
+   6966535544666,
+   6967535578000,
+   6968535555777,
+   6974535689111,
+   6975535533555,
+   6977535533555,
+   6978535544666
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM56/session_002/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6302f07b1c174a359b7be708e7726606abcd1f19dc36f479c85586c3ff8713bd
+size 686303

actions/locomanipulation/LM56/session_002/meta.json

@@ -343,8 +343,8 @@
   "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": {
@@ -596,10 +596,124 @@
   },
   "applied": 2
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 11.78,
+    "offset_rotvec": [
+     -0.09,
+     0.1733,
+     -0.0644
+    ],
+    "dev_deg": {
+     "median": 11.08,
+     "p90": 31.53
+    },
+    "samples": 3104,
+    "accepted": 2783,
+    "wrist_pos_err_mm_median": 32.4,
+    "per_camera": {
+     "head": {
+      "samples": 3104,
+      "accepted": 2783,
+      "gate_deg": 30.0,
+      "offset_deg": 11.78,
+      "tier": "primary",
+      "dev_deg_median": 11.08,
+      "wrist_pos_err_mm_median": 32.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11150,
+     "interpolated": 1058,
+     "mean_hand": 2012,
+     "no_body_fit": 64
+    },
+    "observed_fraction": 0.8547,
+    "observed_fraction_of_valid": 0.8585,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 15.89,
+     "smplx": 2.38
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.7,
+      "p90": 8.3
+     },
+     "registered": {
+      "median": 9.1,
+      "p90": 11.2
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 15.43,
+    "offset_rotvec": [
+     -0.1838,
+     -0.0305,
+     0.1945
+    ],
+    "dev_deg": {
+     "median": 13.4,
+     "p90": 174.82
+    },
+    "samples": 3219,
+    "accepted": 2291,
+    "wrist_pos_err_mm_median": 34.3,
+    "per_camera": {
+     "head": {
+      "samples": 3219,
+      "accepted": 2291,
+      "gate_deg": 30.0,
+      "offset_deg": 15.43,
+      "tier": "primary",
+      "dev_deg_median": 13.4,
+      "wrist_pos_err_mm_median": 34.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9204,
+     "interpolated": 876,
+     "mean_hand": 4140,
+     "no_body_fit": 64
+    },
+    "observed_fraction": 0.7057,
+    "observed_fraction_of_valid": 0.7089,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 11.56,
+     "smplx": 2.66
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.4,
+      "p90": 9.4
+     },
+     "registered": {
+      "median": 7.6,
+      "p90": 9.0
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T23:06:08.134207+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomanipulation/LM56/session_002",
   "family": "locomanipulation",
   "primitive": "LM56",
   "source_session": "20260916/LM56/20260916_021157_session26"
+ },
+ "task": {
+  "primitive": "LM56",
+  "instruction": "Carry the object across the room and place it on the shelf just at the top of your comfortable reach. Keep going until the operator says stop; one object at a time, and do not rush between trips."
  }
 }

actions/locomanipulation/LM56/session_002/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ac93b974cd99e25b2b6aeab0ed81ebdc6bba0e2074196ea4421959b9096676e
+size 4327165

actions/locomanipulation/LM56/session_002/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0b102226ce55600b92d455217673d5344a3804fdcada3ae4917ef64d77631335
-size 5503566
+oid sha256:cd9a64a0df496063b0af8e8b9afefacf11109363442f8a0fff1fa6968d9fbdab
+size 9433615

actions/locomanipulation/LM56/session_003/cameras/gsi_online_calibration.json

@@ -0,0 +1,257 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.454
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 2.323,
+   "gate_fail": [],
+   "held_out_px_after": 0.561,
+   "held_out_px_before": 6.811,
+   "inliers": 2520,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.9318,
+    -1.2248,
+    0.4057
+   ],
+   "split_deg": 0.0544,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.6928,
+   "gate_fail": [],
+   "held_out_px_after": 0.508,
+   "held_out_px_before": 3.502,
+   "inliers": 2758,
+   "position_fitted": true,
+   "position_mm": [
+    -3.63,
+    -18.11,
+    3.58
+   ],
+   "position_sigma_mm": 0.243,
+   "position_split_mm": 1.119,
+   "rotvec_deg": [
+    -0.0798,
+    -0.0631,
+    0.6853
+   ],
+   "split_deg": 0.0533,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 3.5821,
+   "gate_fail": [],
+   "held_out_px_after": 0.656,
+   "held_out_px_before": 9.767,
+   "inliers": 1552,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.12,
+    -1.1286,
+    2.6577
+   ],
+   "split_deg": 0.0359,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.8622,
+   "gate_fail": [],
+   "held_out_px_after": 0.374,
+   "held_out_px_before": 4.608,
+   "inliers": 3752,
+   "position_fitted": true,
+   "position_mm": [
+    -1.14,
+    -15.53,
+    2.25
+   ],
+   "position_sigma_mm": 0.222,
+   "position_split_mm": 0.621,
+   "rotvec_deg": [
+    0.3798,
+    -0.803,
+    1.6367
+   ],
+   "split_deg": 0.0506,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.9654,
+   "gate_fail": [],
+   "held_out_px_after": 0.463,
+   "held_out_px_before": 6.914,
+   "inliers": 3403,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.6842,
+    -0.2984,
+    -0.6123
+   ],
+   "split_deg": 0.0707,
+   "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": "a24b757c6781c7a2b422beabcb74d820727269449bdb9764b003d867d2c567c3",
+   "source_sha256": "2bf43346f9825da1c051096d46ceb924252959c0c3fed4ac9c166c6096121ae0"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "64d8b49363805852c0918d72fea35c3ab96f84bdb2ac7b7824c1b2692a4554fc",
+   "source_sha256": "b80f390816142bc598f6a58e17810083d07270f17802c79b0d33dade12e1a7ed"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "d8e8da437864d77e21d00a2ff9c364511c1c62cac47c3db84dcd86075910cbd8",
+   "source_sha256": "55ee2a9af25410709c73762b726e1a41e5450b277090a5256571601dd5fd719b"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "5f89ec6773921ed6850b46a65485f0eff49400dd22972076b51865b855f6c7af",
+   "source_sha256": "b2fcef709086e19cb082ae12586aebd1a6fa9a92db90015c1c5a641f4588dfc7"
+  }
+ },
+ "input_fingerprint": "af9cd28d1d6e38b2",
+ "kind": "online_calibration",
+ "output_sha256": "ae2aa8f2bc0d3b33b9ffde9e0ee69edd9988d71719db42af7ec33007aa74c0df",
+ "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": 38.041,
+  "left_eye": 48.152,
+  "left_front": 49.484,
+  "right": 41.54,
+  "right_eye": 46.532,
+  "right_front": 51.623
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   36244686490666,
+   36245686546222,
+   36249686479555,
+   36250686468444,
+   36253686479555,
+   36254686601777,
+   36257686501777,
+   36258686468444,
+   36259686612888,
+   36260686468444,
+   36262686468444,
+   36263686490666,
+   36268686612888,
+   36269686546222,
+   36270686468444,
+   36276686557333,
+   36277686501777,
+   36280686479555,
+   36281686468444,
+   36282686568444,
+   36287686479555,
+   36288686490666,
+   36290686501777,
+   36291686490666,
+   36294686468444,
+   36295686557333,
+   36299686468444,
+   36300686479555,
+   36302686546222,
+   36303686479555,
+   36306686524000,
+   36307686479555,
+   36308686490666,
+   36309686490666,
+   36314686612888,
+   36315686490666,
+   36316686479555,
+   36322686501777,
+   36323686468444,
+   36324686479555,
+   36325686479555,
+   36328686612888,
+   36329686590666,
+   36331686557333,
+   36332686468444,
+   36337686479555,
+   36338686468444,
+   36339686468444,
+   36343686479555,
+   36344686479555,
+   36349686468444,
+   36350686501777,
+   36353686490666,
+   36354686479555,
+   36356686468444,
+   36357686490666
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM56/session_003/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30a4bcf81c11a6bae226011edf5630fac66c285b957b038e0f286f5647c2fa26
+size 689680

actions/locomanipulation/LM56/session_003/meta.json

@@ -372,8 +372,8 @@
   "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": {
@@ -512,12 +512,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 18.25,
+    "offset_rotvec": [
+     0.2978,
+     -0.0353,
+     -0.1075
+    ],
+    "dev_deg": {
+     "median": 9.71,
+     "p90": 20.4
+    },
+    "samples": 3487,
+    "accepted": 3316,
+    "wrist_pos_err_mm_median": 127.8,
+    "per_camera": {
+     "head": {
+      "samples": 3487,
+      "accepted": 3316,
+      "gate_deg": 30.0,
+      "offset_deg": 18.25,
+      "tier": "primary",
+      "dev_deg_median": 9.71,
+      "wrist_pos_err_mm_median": 127.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13342,
+     "interpolated": 618,
+     "mean_hand": 432,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.97,
+    "observed_fraction_of_valid": 0.97,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 16.95,
+     "smplx": 2.47
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.3,
+      "p90": 14.6
+     },
+     "registered": {
+      "median": 9.2,
+      "p90": 13.7
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 7.82,
+    "offset_rotvec": [
+     -0.0191,
+     0.1341,
+     0.0173
+    ],
+    "dev_deg": {
+     "median": 8.83,
+     "p90": 15.88
+    },
+    "samples": 3423,
+    "accepted": 3348,
+    "wrist_pos_err_mm_median": 127.8,
+    "per_camera": {
+     "head": {
+      "samples": 3423,
+      "accepted": 3348,
+      "gate_deg": 30.0,
+      "offset_deg": 7.82,
+      "tier": "primary",
+      "dev_deg_median": 8.83,
+      "wrist_pos_err_mm_median": 127.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13438,
+     "interpolated": 258,
+     "mean_hand": 696,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9516,
+    "observed_fraction_of_valid": 0.9516,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 8.58,
+     "smplx": 1.42
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.4,
+      "p90": 8.9
+     },
+     "registered": {
+      "median": 7.3,
+      "p90": 9.8
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:35:24.686991+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomanipulation/LM56/session_003",
   "family": "locomanipulation",
   "primitive": "LM56",
   "source_session": "20261024/LM56/20261024_120046_session114"
  },
+ "task": {
+  "primitive": "LM56",
+  "instruction": "Carry the object across the room and place it on the shelf just at the top of your comfortable reach. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+ },
  "objects": [
   {
    "name": "HighRack",

actions/locomanipulation/LM56/session_003/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c59a4a79172b80dcf13d959f6e15520b9966ca33a88d4c29296187f750494805
+size 4683806

actions/locomanipulation/LM56/session_003/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1169503660ce4bea9b5af96264fc6d0de5c016d83b23c91fb5116ed06d5f4860
-size 5524206
+oid sha256:6871d7be30aae8705b944964048abe8132efa4e4a635e4f18f89347e11a14073
+size 10219276

actions/locomanipulation/LM56/session_004/cameras/gsi_online_calibration.json

@@ -0,0 +1,267 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 60,
+    "median_px": 3.75,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.497
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 2.5049,
+   "gate_fail": [],
+   "held_out_px_after": 0.74,
+   "held_out_px_before": 6.702,
+   "inliers": 2310,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.1465,
+    -1.2565,
+    0.2966
+   ],
+   "split_deg": 0.0673,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.6515,
+   "gate_fail": [],
+   "held_out_px_after": 0.818,
+   "held_out_px_before": 3.86,
+   "inliers": 2327,
+   "position_fitted": true,
+   "position_mm": [
+    -1.36,
+    -15.26,
+    1.62
+   ],
+   "position_sigma_mm": 0.397,
+   "position_split_mm": 0.734,
+   "rotvec_deg": [
+    0.17,
+    -0.2814,
+    0.5624
+   ],
+   "split_deg": 0.1009,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.556,
+   "gate_fail": [],
+   "held_out_px_after": 0.601,
+   "held_out_px_before": 10.129,
+   "inliers": 1471,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.1338,
+    -1.1707,
+    2.5926
+   ],
+   "split_deg": 0.0631,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.881,
+   "gate_fail": [],
+   "held_out_px_after": 0.451,
+   "held_out_px_before": 5.097,
+   "inliers": 3788,
+   "position_fitted": true,
+   "position_mm": [
+    -1.38,
+    -14.93,
+    2.39
+   ],
+   "position_sigma_mm": 0.263,
+   "position_split_mm": 2.909,
+   "rotvec_deg": [
+    0.4291,
+    -0.8469,
+    1.6238
+   ],
+   "split_deg": 0.0635,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.9776,
+   "gate_fail": [],
+   "held_out_px_after": 0.436,
+   "held_out_px_before": 6.819,
+   "inliers": 3566,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.6834,
+    -0.3127,
+    -0.6252
+   ],
+   "split_deg": 0.0329,
+   "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": "5f2bf61a1a6804d516e8c993dcd9bb58ecb435b84108911efef52f930c120e0d",
+   "source_sha256": "2bf43346f9825da1c051096d46ceb924252959c0c3fed4ac9c166c6096121ae0"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "e46b7ee03581452c1ba7d71cfc4da9233672fde035f4802eab374fcdb3471d9d",
+   "source_sha256": "b80f390816142bc598f6a58e17810083d07270f17802c79b0d33dade12e1a7ed"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "cf47ec99e7ec7d5b4cd95a493bfdb22984c443a25ee412f2475fbb74e95f8055",
+   "source_sha256": "55ee2a9af25410709c73762b726e1a41e5450b277090a5256571601dd5fd719b"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "ff9e3a590947eeb70cc40442c1ded192079f500833589e52d50fc9d527471466",
+   "source_sha256": "b2fcef709086e19cb082ae12586aebd1a6fa9a92db90015c1c5a641f4588dfc7"
+  }
+ },
+ "input_fingerprint": "b920f5bc60261c31",
+ "kind": "online_calibration",
+ "output_sha256": "d044818433aca37d06d542fa76e1c5ad988696088c18d578d8eac8b53c0bcb96",
+ "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": 43.343,
+  "left_eye": 51.595,
+  "left_front": 54.167,
+  "right": 43.44,
+  "right_eye": 50.579,
+  "right_front": 52.298
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   36400613070777,
+   36401613081888,
+   36405613137444,
+   36406613093000,
+   36410613093000,
+   36411613059666,
+   36413613059666,
+   36414613059666,
+   36417613081888,
+   36418613126333,
+   36421613126333,
+   36422613126333,
+   36424613093000,
+   36425613126333,
+   36427613059666,
+   36428613193000,
+   36431613181888,
+   36432613093000,
+   36435613137444,
+   36436613204111,
+   36440613081888,
+   36441613059666,
+   36445613059666,
+   36446613126333,
+   36449613059666,
+   36450613081888,
+   36453613059666,
+   36454613059666,
+   36456613070777,
+   36457613048555,
+   36458613048555,
+   36459613059666,
+   36461613193000,
+   36462613137444,
+   36468613081888,
+   36469613081888,
+   36470613137444,
+   36473613081888,
+   36474613048555,
+   36478613059666,
+   36479613081888,
+   36483613081888,
+   36484613059666,
+   36487613070777,
+   36488613137444,
+   36491613081888,
+   36492613048555,
+   36493613137444,
+   36494613193000,
+   36497613048555,
+   36498613181888,
+   36501613093000,
+   36502613048555,
+   36507613137444,
+   36508613126333,
+   36511613070777,
+   36512613093000,
+   36514613081888,
+   36515613070777
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM56/session_004/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46b6aa32e762d418912c99cdcba42416e4cc1774fc636b928fbbd47842a129d1
+size 689217

actions/locomanipulation/LM56/session_004/meta.json

@@ -372,8 +372,8 @@
   "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": {
@@ -517,12 +517,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 18.63,
+    "offset_rotvec": [
+     0.2826,
+     -0.0406,
+     -0.1555
+    ],
+    "dev_deg": {
+     "median": 11.36,
+     "p90": 21.22
+    },
+    "samples": 3509,
+    "accepted": 3379,
+    "wrist_pos_err_mm_median": 132.7,
+    "per_camera": {
+     "head": {
+      "samples": 3509,
+      "accepted": 3379,
+      "gate_deg": 30.0,
+      "offset_deg": 18.63,
+      "tier": "primary",
+      "dev_deg_median": 11.36,
+      "wrist_pos_err_mm_median": 132.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13580,
+     "interpolated": 776,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9992,
+    "observed_fraction_of_valid": 0.9992,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 18.78,
+     "smplx": 2.33
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 11.1,
+      "p90": 18.6
+     },
+     "registered": {
+      "median": 11.3,
+      "p90": 17.6
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 7.96,
+    "offset_rotvec": [
+     0.0356,
+     0.1311,
+     -0.0291
+    ],
+    "dev_deg": {
+     "median": 8.24,
+     "p90": 14.31
+    },
+    "samples": 3469,
+    "accepted": 3448,
+    "wrist_pos_err_mm_median": 122.9,
+    "per_camera": {
+     "head": {
+      "samples": 3469,
+      "accepted": 3448,
+      "gate_deg": 30.0,
+      "offset_deg": 7.96,
+      "tier": "primary",
+      "dev_deg_median": 8.24,
+      "wrist_pos_err_mm_median": 122.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13818,
+     "interpolated": 210,
+     "mean_hand": 340,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9763,
+    "observed_fraction_of_valid": 0.9763,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 7.95,
+     "smplx": 3.74
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.3,
+      "p90": 9.2
+     },
+     "registered": {
+      "median": 5.5,
+      "p90": 8.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:35:09.451118+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomanipulation/LM56/session_004",
   "family": "locomanipulation",
   "primitive": "LM56",
   "source_session": "20261024/LM56/20261024_120324_session115"
  },
+ "task": {
+  "primitive": "LM56",
+  "instruction": "Carry the object across the room and place it on the shelf just at the top of your comfortable reach. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+ },
  "objects": [
   {
    "name": "HighRack",

actions/locomanipulation/LM56/session_004/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60ead54033ab0c1a2e54f5bb7b660f0b14358406850c6f292690f37875907d2c
+size 4727878

actions/locomanipulation/LM56/session_004/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3e51de5a90a0bdcfed2a5d35f582ec341a1b2186a2b0f0235bda1d45b500fcc2
-size 5525386
+oid sha256:b55378e4b755a8126ef211fd2c99baef98d8036ead205461dac0338d97b9d096
+size 10299646

actions/locomanipulation/LM56/session_005/annotations.json

@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "LM56",
+ "instruction": "Carry the object across the room and place it on the shelf just at the top of your comfortable reach. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 103.766544,
+   "video": "left_eye",
+   "video_t_start": 0.04050622214136604
+  }
+ ],
+ "episodes": [
+  {
+   "id": "50c15fe6-8306-4428-b4d2-b0165964acd9",
+   "segment": "segment1",
+   "action": "LM56",
+   "quality": "valid",
+   "start_s": 2.198,
+   "end_s": 103.767,
+   "t_start": 2.2385,
+   "t_end": 103.8075,
+   "instruction": "Carry the object across the room and place it on the shelf just at the top of your comfortable reach. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}

actions/locomanipulation/LM56/session_005/cameras/gsi_online_calibration.json

@@ -0,0 +1,256 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.396
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.7885,
+   "gate_fail": [],
+   "held_out_px_after": 0.533,
+   "held_out_px_before": 22.399,
+   "inliers": 1661,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.1195,
+    -0.1476,
+    -1.3869
+   ],
+   "split_deg": 0.0832,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.1434,
+   "gate_fail": [],
+   "held_out_px_after": 0.421,
+   "held_out_px_before": 8.639,
+   "inliers": 3836,
+   "position_fitted": true,
+   "position_mm": [
+    1.27,
+    -26.85,
+    -1.48
+   ],
+   "position_sigma_mm": 0.132,
+   "position_split_mm": 0.662,
+   "rotvec_deg": [
+    1.4696,
+    -0.7603,
+    1.3626
+   ],
+   "split_deg": 0.0644,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.8023,
+   "gate_fail": [],
+   "held_out_px_after": 0.751,
+   "held_out_px_before": 12.383,
+   "inliers": 1605,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.6986,
+    -1.1875,
+    3.1878
+   ],
+   "split_deg": 0.0344,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.7929,
+   "gate_fail": [],
+   "held_out_px_after": 0.381,
+   "held_out_px_before": 5.453,
+   "inliers": 4057,
+   "position_fitted": true,
+   "position_mm": [
+    0.53,
+    -24.31,
+    0.31
+   ],
+   "position_sigma_mm": 0.148,
+   "position_split_mm": 0.412,
+   "rotvec_deg": [
+    1.5272,
+    -1.3039,
+    1.941
+   ],
+   "split_deg": 0.0292,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.5295,
+   "gate_fail": [],
+   "held_out_px_after": 0.357,
+   "held_out_px_before": 3.436,
+   "inliers": 3891,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2469,
+    -0.3932,
+    -0.2546
+   ],
+   "split_deg": 0.0129,
+   "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": "0a3fd2573a6153815994af270a89f8a29b5de9bcfedc378092f83183c74b6e01",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "0a7c4cac446dcbfea1715206adcf7bda9ce77bcce8024cd7dedbbaf5e51989b2",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "1a6a8966c31116b66eddf5f49c7b2a4c8f5ecf3f40d41346ac4ea791623ec6a8",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "b3276c94fcc8fe86370b0b21bd0c4e2f1befc8e2a0f9e6eb3ea2cb40010c96af",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "cb82ccbf31d2e5c4",
+ "kind": "online_calibration",
+ "output_sha256": "29060a6adadaffd69653b8a15e78762b5b2555571ef1e30abc740791d2bbc121",
+ "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": 41.939,
+  "left_eye": 50.276,
+  "left_front": 54.163,
+  "right": 46.581,
+  "right_eye": 50.814,
+  "right_front": 49.349
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   3403393698666,
+   3404393698666,
+   3408393732000,
+   3409393698666,
+   3410393732000,
+   3411393698666,
+   3415393732000,
+   3416393698666,
+   3418393698666,
+   3419393765333,
+   3420393698666,
+   3421393732000,
+   3426393776444,
+   3427393776444,
+   3428393698666,
+   3431393720888,
+   3432393732000,
+   3434393854222,
+   3435393698666,
+   3440393832000,
+   3441393809777,
+   3442393732000,
+   3445393698666,
+   3446393698666,
+   3448393720888,
+   3449393732000,
+   3451393709777,
+   3452393698666,
+   3455393709777,
+   3456393709777,
+   3459393698666,
+   3460393720888,
+   3461393732000,
+   3462393732000,
+   3466393832000,
+   3467393698666,
+   3470393732000,
+   3471393698666,
+   3473393698666,
+   3474393698666,
+   3476393698666,
+   3477393776444,
+   3479393865333,
+   3480393698666,
+   3483393854222,
+   3484393765333,
+   3485393732000,
+   3489393698666,
+   3490393732000,
+   3492393854222,
+   3493393843111,
+   3495393732000,
+   3496393698666,
+   3500393698666,
+   3501393732000,
+   3502393765333,
+   3503393732000
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM56/session_005/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64f66fd46405a747b0701eca2096ca3304a8582d9a1c3381ec5eae49230c6047
+size 599696