Release update 2026-11-05: new sessions, instructions, annotations (part 295)

actions/locomanipulation/LM32/session_017/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:32fc1584d26fc9c243df68844188767a8e8f4d9e9ee62e3cfa6ed962aa1d21f3
-size 5516003
+oid sha256:50fde1fa9dfcb8cde30f4b6d1fab4eede3f9c6755ede435fbb25dc4f60367f68
+size 9962221

actions/locomanipulation/LM32/session_018/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": "LM32",
+ "instruction": "Carry the lidded box and, while you are still walking, open the lid, then close it again. Repeat as you walk back and forth. Do not stop to do it.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 128.966633,
+   "video": "left_eye",
+   "video_t_start": 0.039877783633517794
+  }
+ ],
+ "episodes": [
+  {
+   "id": "285309d5-83e7-4dea-8c79-bd7f6424b3f7",
+   "segment": "segment1",
+   "action": "LM32",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 122.029,
+   "t_start": 0.0399,
+   "t_end": 122.0689,
+   "instruction": "Carry the lidded box and, while you are still walking, open the lid, then close it again. Repeat as you walk back and forth. Do not stop to do it."
+  }
+ ]
+}

actions/locomanipulation/LM32/session_018/cameras/gsi_online_calibration.json

@@ -0,0 +1,254 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.386
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.0969,
+   "gate_fail": [],
+   "held_out_px_after": 0.552,
+   "held_out_px_before": 4.945,
+   "inliers": 1593,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.4204,
+    -0.5827,
+    -0.8288
+   ],
+   "split_deg": 0.0207,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.3505,
+   "gate_fail": [],
+   "held_out_px_after": 0.391,
+   "held_out_px_before": 6.268,
+   "inliers": 2033,
+   "position_fitted": true,
+   "position_mm": [
+    7.3,
+    -20.27,
+    4.48
+   ],
+   "position_sigma_mm": 0.15,
+   "position_split_mm": 0.659,
+   "rotvec_deg": [
+    -0.3521,
+    0.759,
+    -2.1966
+   ],
+   "split_deg": 0.0342,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.309,
+   "gate_fail": [],
+   "held_out_px_after": 0.502,
+   "held_out_px_before": 4.914,
+   "inliers": 1344,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.1587,
+    -0.3355,
+    -0.5083
+   ],
+   "split_deg": 0.0252,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.9504,
+   "gate_fail": [],
+   "held_out_px_after": 0.417,
+   "held_out_px_before": 2.815,
+   "inliers": 2361,
+   "position_fitted": true,
+   "position_mm": [
+    6.6,
+    -22.47,
+    4.0
+   ],
+   "position_sigma_mm": 0.152,
+   "position_split_mm": 0.49,
+   "rotvec_deg": [
+    -0.1169,
+    -0.3879,
+    -0.8597
+   ],
+   "split_deg": 0.0058,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.0282,
+   "gate_fail": [],
+   "held_out_px_after": 0.36,
+   "held_out_px_before": 6.953,
+   "inliers": 3935,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2557,
+    -0.1358,
+    -2.0075
+   ],
+   "split_deg": 0.0157,
+   "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": "cc16cda745f127a546b1841e45c855eb55758e03ddf9631ec80ec2abcc23f0f6",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "509a51a69d906b3ca337388eeeefc9c209abb85464ab9eb72123fa22c7369fb4",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "1d5a11b33edbe6ec60bf44cd268534020c3af1c84e6e330fbe0b0d42530ac3c3",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "45ff6b1611c434bed1b35957d3df500cf46c3fb62e2e5a603aae689218430c14",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "c7af277d8e35fe38",
+ "kind": "online_calibration",
+ "output_sha256": "17db3af83eebd25ab9bdb8d1bb380e5c5c5546d09d3f6e7b7c0487ff313b880d",
+ "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": 37.541,
+  "left_eye": 28.961,
+  "left_front": 36.738,
+  "right": 36.693,
+  "right_eye": 29.365,
+  "right_front": 38.188
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   25638023103000,
+   25639023103000,
+   25643023069666,
+   25644023091888,
+   25650023058555,
+   25651023058555,
+   25652023080777,
+   25655023114111,
+   25656023103000,
+   25659023158555,
+   25660023103000,
+   25665023103000,
+   25666023080777,
+   25670023103000,
+   25671023258555,
+   25675023091888,
+   25676023091888,
+   25677023058555,
+   25682023069666,
+   25683023103000,
+   25687023080777,
+   25688023080777,
+   25691023103000,
+   25692023069666,
+   25695023091888,
+   25696023069666,
+   25698023080777,
+   25699023069666,
+   25704023091888,
+   25705023103000,
+   25706023058555,
+   25707023091888,
+   25713023069666,
+   25714023069666,
+   25715023103000,
+   25718023214111,
+   25719023091888,
+   25723023091888,
+   25724023069666,
+   25727023058555,
+   25728023080777,
+   25732023091888,
+   25733023069666,
+   25738023091888,
+   25739023091888,
+   25742023091888,
+   25743023091888,
+   25746023214111,
+   25747023114111,
+   25748023080777,
+   25754023091888,
+   25755023091888,
+   25758023091888,
+   25759023080777,
+   25760023103000
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM32/session_018/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9bff217d25884e4f31c0dc45b65699526273436e0b574e2bdbf3f253ba5e7bf
+size 742502

actions/locomanipulation/LM32/session_018/meta.json

@@ -339,8 +339,8 @@
   "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": {
@@ -520,10 +520,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.0806490646617641
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 8.14,
+    "offset_rotvec": [
+     0.0059,
+     0.0611,
+     -0.1282
+    ],
+    "dev_deg": {
+     "median": 19.13,
+     "p90": 72.74
+    },
+    "samples": 3477,
+    "accepted": 2447,
+    "wrist_pos_err_mm_median": 16.4,
+    "per_camera": {
+     "head": {
+      "samples": 3477,
+      "accepted": 2447,
+      "gate_deg": 30.0,
+      "offset_deg": 8.14,
+      "tier": "primary",
+      "dev_deg_median": 19.13,
+      "wrist_pos_err_mm_median": 16.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9813,
+     "interpolated": 1734,
+     "mean_hand": 3936,
+     "no_body_fit": 1
+    },
+    "observed_fraction": 0.7457,
+    "observed_fraction_of_valid": 0.7458,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 14.48,
+     "smplx": 1.3
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.6,
+      "p90": 14.0
+     },
+     "registered": {
+      "median": 10.5,
+      "p90": 13.8
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 56.69,
+    "offset_rotvec": [
+     0.9798,
+     0.0323,
+     -0.134
+    ],
+    "dev_deg": {
+     "median": 14.67,
+     "p90": 34.08
+    },
+    "samples": 3539,
+    "accepted": 3050,
+    "wrist_pos_err_mm_median": 38.8,
+    "per_camera": {
+     "head": {
+      "samples": 3539,
+      "accepted": 3050,
+      "gate_deg": 30.0,
+      "offset_deg": 56.69,
+      "tier": "primary",
+      "dev_deg_median": 14.67,
+      "wrist_pos_err_mm_median": 38.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12355,
+     "interpolated": 2212,
+     "mean_hand": 916,
+     "no_body_fit": 1
+    },
+    "observed_fraction": 0.9408,
+    "observed_fraction_of_valid": 0.9408,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 54.43,
+     "smplx": 1.23
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.4,
+      "p90": 14.7
+     },
+     "registered": {
+      "median": 7.9,
+      "p90": 12.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:35:51.320988+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/LM32/session_018",
   "family": "locomanipulation",
   "primitive": "LM32",
   "source_session": "20260924/LM32/20260924_073111_session94"
+ },
+ "task": {
+  "primitive": "LM32",
+  "instruction": "Carry the lidded box and, while you are still walking, open the lid, then close it again. Repeat as you walk back and forth. Do not stop to do it."
  }
 }

actions/locomanipulation/LM32/session_018/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a42b99be369f7d6aacd23649d69259abbda1b3e80d249cab6794eedd852af359
+size 4747785

actions/locomanipulation/LM32/session_018/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3980f98734e55438bd1f6fdb6d3c2150ca66ceb8bd675c59554f8dc54d4582ae
-size 5985103
+oid sha256:04e1c29815cced75000b9a720df9e7c1679c84839e5f94eaa9b65d0db567b855
+size 10638194

actions/locomanipulation/LM32/session_019/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": "LM32",
+ "instruction": "Carry the lidded box and, while you are still walking, open the lid, then close it again. Repeat as you walk back and forth. Do not stop to do it.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 133.966644,
+   "video": "left_eye",
+   "video_t_start": 0.03893138566219467
+  }
+ ],
+ "episodes": [
+  {
+   "id": "e1463084-9f26-4383-80ee-5ff7c1eb60e8",
+   "segment": "segment1",
+   "action": "LM32",
+   "quality": "valid",
+   "start_s": 1.045,
+   "end_s": 126.983,
+   "t_start": 1.0839,
+   "t_end": 127.0219,
+   "instruction": "Carry the lidded box and, while you are still walking, open the lid, then close it again. Repeat as you walk back and forth. Do not stop to do it."
+  }
+ ]
+}

actions/locomanipulation/LM32/session_019/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ccce705251f34fb78a248eb397fe08696470e9a3f692cae9b8f2f40e0a8f439
+size 774033

actions/locomanipulation/LM32/session_019/meta.json

@@ -363,8 +363,8 @@
   "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": {
@@ -649,18 +649,121 @@
   },
   "applied": 5
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 53.88,
+    "offset_rotvec": [
+     -0.8324,
+     0.4351,
+     0.0479
+    ],
+    "dev_deg": {
+     "median": 91.08,
+     "p90": 135.34
+    },
+    "samples": 3817,
+    "accepted": 29,
+    "wrist_pos_err_mm_median": 43.2,
+    "per_camera": {
+     "head": {
+      "samples": 3817,
+      "accepted": 29,
+      "gate_deg": 30.0,
+      "offset_deg": 53.88,
+      "tier": "primary",
+      "dev_deg_median": 91.08,
+      "wrist_pos_err_mm_median": 43.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 106,
+     "interpolated": 0,
+     "mean_hand": 15978,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.0066,
+    "observed_fraction_of_valid": 0.0066,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 87.23
+    }
+   },
+   "right": {
+    "offset_deg": 23.05,
+    "offset_rotvec": [
+     0.3241,
+     -0.1808,
+     -0.1553
+    ],
+    "dev_deg": {
+     "median": 12.73,
+     "p90": 28.34
+    },
+    "samples": 3857,
+    "accepted": 3517,
+    "wrist_pos_err_mm_median": 46.3,
+    "per_camera": {
+     "head": {
+      "samples": 3857,
+      "accepted": 3517,
+      "gate_deg": 30.0,
+      "offset_deg": 23.05,
+      "tier": "primary",
+      "dev_deg_median": 12.73,
+      "wrist_pos_err_mm_median": 46.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14172,
+     "interpolated": 1052,
+     "mean_hand": 860,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9465,
+    "observed_fraction_of_valid": 0.9465,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 19.05,
+     "smplx": 1.73
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.8,
+      "p90": 15.0
+     },
+     "registered": {
+      "median": 8.3,
+      "p90": 12.1
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:08:44.050221+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/LM32/session_019",
   "family": "locomanipulation",
   "primitive": "LM32",
   "source_session": "20261013/LM32/20261013_045517_session77"
  },
+ "task": {
+  "primitive": "LM32",
+  "instruction": "Carry the lidded box and, while you are still walking, open the lid, then close it again. Repeat as you walk back and forth. Do not stop to do it."
+ },
  "objects": [
   {
-   "name": "BigBox",
+   "name": "BigBox#1",
    "object_type": "BigBox",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
+   "source": "vision",
+   "pose_frame": "mesh"
   }
  ]
 }

actions/locomanipulation/LM32/session_019/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13b5bc17f79de16d556e50bfe1fd668df755158d070409fc45363bc29585a250
+size 5201204

actions/locomanipulation/LM32/session_019/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2be087a91dd8d8037f02b9b74cec52c652506d77d57054bc329fb48d75bb682c
-size 6203470
+oid sha256:6e85ffbbe8451c9dea2bf8189b5179c504dc4f8ae6fde2833909fc41ccfe465b
+size 8834927

actions/locomanipulation/LM32/session_020/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": "LM32",
+ "instruction": "Carry the lidded box and, while you are still walking, open the lid, then close it again. Repeat as you walk back and forth. Do not stop to do it.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 128.966689,
+   "video": "left_eye",
+   "video_t_start": 0.038837836351837574
+  }
+ ],
+ "episodes": [
+  {
+   "id": "64a5a57c-4225-48ff-8860-f29d87a31876",
+   "segment": "segment1",
+   "action": "LM32",
+   "quality": "valid",
+   "start_s": 1,
+   "end_s": 119.903,
+   "t_start": 1.0388,
+   "t_end": 119.9418,
+   "instruction": "Carry the lidded box and, while you are still walking, open the lid, then close it again. Repeat as you walk back and forth. Do not stop to do it."
+  }
+ ]
+}

actions/locomanipulation/LM32/session_020/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13cf55a85d8aef84826f52c99f7e62b585b196dac9c7861ec9daf8aceda7c2aa
+size 742135

actions/locomanipulation/LM32/session_020/meta.json

@@ -356,8 +356,8 @@
   "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": {
@@ -497,10 +497,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 18.12,
+    "offset_rotvec": [
+     0.2748,
+     -0.0985,
+     0.1215
+    ],
+    "dev_deg": {
+     "median": 12.49,
+     "p90": 30.79
+    },
+    "samples": 3513,
+    "accepted": 3128,
+    "wrist_pos_err_mm_median": 89.4,
+    "per_camera": {
+     "head": {
+      "samples": 3513,
+      "accepted": 3128,
+      "gate_deg": 30.0,
+      "offset_deg": 18.12,
+      "tier": "primary",
+      "dev_deg_median": 12.49,
+      "wrist_pos_err_mm_median": 89.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12704,
+     "interpolated": 2168,
+     "mean_hand": 612,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9605,
+    "observed_fraction_of_valid": 0.9605,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 18.07,
+     "smplx": 0.92
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 11.8,
+      "p90": 14.9
+     },
+     "registered": {
+      "median": 11.5,
+      "p90": 13.6
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 20.02,
+    "offset_rotvec": [
+     0.1231,
+     -0.2858,
+     0.1591
+    ],
+    "dev_deg": {
+     "median": 23.19,
+     "p90": 41.12
+    },
+    "samples": 3238,
+    "accepted": 2294,
+    "wrist_pos_err_mm_median": 77.5,
+    "per_camera": {
+     "head": {
+      "samples": 3238,
+      "accepted": 2294,
+      "gate_deg": 30.0,
+      "offset_deg": 20.02,
+      "tier": "primary",
+      "dev_deg_median": 23.19,
+      "wrist_pos_err_mm_median": 77.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9424,
+     "interpolated": 4376,
+     "mean_hand": 1684,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.8912,
+    "observed_fraction_of_valid": 0.8912,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 22.22,
+     "smplx": 1.48
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 17.6,
+      "p90": 28.8
+     },
+     "registered": {
+      "median": 17.0,
+      "p90": 28.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:55:27.517890+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/LM32/session_020",
   "family": "locomanipulation",
   "primitive": "LM32",
   "source_session": "20261014/LM32/20261014_022106_session28"
+ },
+ "task": {
+  "primitive": "LM32",
+  "instruction": "Carry the lidded box and, while you are still walking, open the lid, then close it again. Repeat as you walk back and forth. Do not stop to do it."
  }
 }

actions/locomanipulation/LM32/session_020/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cf8ce19bcc375a217b9a566235d48345d2e90d320a2fd2a5e5c3ba24a1d3295
+size 4595739

actions/locomanipulation/LM32/session_020/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ca0cb71b3c0b59fc2117499bf7b94e0d0d59fbe07817ed8efbe911c718ef9a39
-size 5972931
+oid sha256:3009c12f880c7b2132c3842f8bf5dec4f49d1629b7515b9506e0497814ca5268
+size 10898455

actions/locomanipulation/LM32/session_021/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": "LM32",
+ "instruction": "Carry the lidded box and, while you are still walking, open the lid, then close it again. Repeat as you walk back and forth. Do not stop to do it.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 138.966656,
+   "video": "left_eye",
+   "video_t_start": 0.0389419420620154
+  }
+ ],
+ "episodes": [
+  {
+   "id": "b8f8e010-f4e0-4c8e-8081-4ca9178b4a0e",
+   "segment": "segment1",
+   "action": "LM32",
+   "quality": "valid",
+   "start_s": 0.697,
+   "end_s": 129.377,
+   "t_start": 0.7359,
+   "t_end": 129.4159,
+   "instruction": "Carry the lidded box and, while you are still walking, open the lid, then close it again. Repeat as you walk back and forth. Do not stop to do it."
+  }
+ ]
+}

actions/locomanipulation/LM32/session_021/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b71cea5b119cdccf62449099d4cf5a209d1dc0a4e243193d39485f9a470b88a1
+size 799662

actions/locomanipulation/LM32/session_021/meta.json

@@ -344,8 +344,8 @@
   "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": {
@@ -485,10 +485,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 16.56,
+    "offset_rotvec": [
+     0.2495,
+     -0.1233,
+     0.0778
+    ],
+    "dev_deg": {
+     "median": 12.57,
+     "p90": 25.87
+    },
+    "samples": 3777,
+    "accepted": 3539,
+    "wrist_pos_err_mm_median": 96.4,
+    "per_camera": {
+     "head": {
+      "samples": 3777,
+      "accepted": 3539,
+      "gate_deg": 30.0,
+      "offset_deg": 16.56,
+      "tier": "primary",
+      "dev_deg_median": 12.57,
+      "wrist_pos_err_mm_median": 96.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14333,
+     "interpolated": 2150,
+     "mean_hand": 193,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.988,
+    "observed_fraction_of_valid": 0.9884,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 19.99,
+     "smplx": 1.53
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.1,
+      "p90": 13.3
+     },
+     "registered": {
+      "median": 9.2,
+      "p90": 11.5
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 16.52,
+    "offset_rotvec": [
+     0.0469,
+     -0.2632,
+     0.1081
+    ],
+    "dev_deg": {
+     "median": 19.26,
+     "p90": 42.11
+    },
+    "samples": 3621,
+    "accepted": 2832,
+    "wrist_pos_err_mm_median": 86.7,
+    "per_camera": {
+     "head": {
+      "samples": 3621,
+      "accepted": 2832,
+      "gate_deg": 30.0,
+      "offset_deg": 16.52,
+      "tier": "primary",
+      "dev_deg_median": 19.26,
+      "wrist_pos_err_mm_median": 86.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11597,
+     "interpolated": 4254,
+     "mean_hand": 825,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9501,
+    "observed_fraction_of_valid": 0.9505,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 20.44,
+     "smplx": 1.54
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 14.9,
+      "p90": 22.6
+     },
+     "registered": {
+      "median": 13.7,
+      "p90": 21.6
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:55:26.021541+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/LM32/session_021",
   "family": "locomanipulation",
   "primitive": "LM32",
   "source_session": "20261014/LM32/20261014_035151_session56"
+ },
+ "task": {
+  "primitive": "LM32",
+  "instruction": "Carry the lidded box and, while you are still walking, open the lid, then close it again. Repeat as you walk back and forth. Do not stop to do it."
  }
 }

actions/locomanipulation/LM32/session_021/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0a9ae627c93cc02d453a5cafb19cd2ef39e0ff51ee7006ea0a7a9d2469b4dbe
+size 5043826

actions/locomanipulation/LM32/session_021/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4de369a2f50992ce378a640e4e43e2caaca418db00c4fe49b846a6b08fe59c61
-size 6420144
+oid sha256:265afc866114bede518163c95d3d41a0c82303f038ef1d8428912276ef904f52
+size 11903759

actions/locomanipulation/LM32/session_022/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": "LM32",
+ "instruction": "Carry the lidded box and, while you are still walking, open the lid, then close it again. Repeat as you walk back and forth. Do not stop to do it.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 132.900033,
+   "video": "left_eye",
+   "video_t_start": 0.03992691770334093
+  }
+ ],
+ "episodes": [
+  {
+   "id": "8cbf10d1-8d7b-4176-90ee-a03a10b7ac59",
+   "segment": "segment1",
+   "action": "LM32",
+   "quality": "valid",
+   "start_s": 1,
+   "end_s": 128.991,
+   "t_start": 1.0399,
+   "t_end": 129.0309,
+   "instruction": "Carry the lidded box and, while you are still walking, open the lid, then close it again. Repeat as you walk back and forth. Do not stop to do it."
+  }
+ ]
+}

actions/locomanipulation/LM32/session_022/cameras/gsi_online_calibration.json

@@ -0,0 +1,264 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 64,
+    "median_px": 5.86,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.415
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 2.4787,
+   "gate_fail": [],
+   "held_out_px_after": 0.506,
+   "held_out_px_before": 9.951,
+   "inliers": 2436,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.9774,
+    -1.2558,
+    0.8105
+   ],
+   "split_deg": 0.0363,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.7064,
+   "gate_fail": [],
+   "held_out_px_after": 0.798,
+   "held_out_px_before": 3.821,
+   "inliers": 1839,
+   "position_fitted": true,
+   "position_mm": [
+    0.29,
+    -9.06,
+    6.87
+   ],
+   "position_sigma_mm": 0.297,
+   "position_split_mm": 3.849,
+   "rotvec_deg": [
+    0.0714,
+    -0.2076,
+    0.6714
+   ],
+   "split_deg": 0.14,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.363,
+   "gate_fail": [],
+   "held_out_px_after": 0.528,
+   "held_out_px_before": 9.966,
+   "inliers": 1599,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.982,
+    -1.0028,
+    2.5251
+   ],
+   "split_deg": 0.1125,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.995,
+   "gate_fail": [],
+   "held_out_px_after": 0.397,
+   "held_out_px_before": 4.648,
+   "inliers": 3573,
+   "position_fitted": true,
+   "position_mm": [
+    1.87,
+    -13.07,
+    4.46
+   ],
+   "position_sigma_mm": 0.319,
+   "position_split_mm": 3.877,
+   "rotvec_deg": [
+    0.4496,
+    -0.909,
+    1.7181
+   ],
+   "split_deg": 0.0935,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.8727,
+   "gate_fail": [],
+   "held_out_px_after": 0.373,
+   "held_out_px_before": 5.463,
+   "inliers": 5329,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.8123,
+    -0.2372,
+    -0.2137
+   ],
+   "split_deg": 0.0414,
+   "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": "a806300b479e65e084b510db40d6079eb93e0d23bd741199ca40b7c5f2bed8a9",
+   "source_sha256": "2bf43346f9825da1c051096d46ceb924252959c0c3fed4ac9c166c6096121ae0"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "c0206e273c152323bc631d5372bc6be4fd39f5f75349382420959f9b3af33194",
+   "source_sha256": "b80f390816142bc598f6a58e17810083d07270f17802c79b0d33dade12e1a7ed"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "996e2760437f92f920781c3a4effde65da8f089753770e321c8ebee32ac10c25",
+   "source_sha256": "55ee2a9af25410709c73762b726e1a41e5450b277090a5256571601dd5fd719b"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "1dd92f6278c42a83f681e31425c0d7b2c84e4e80d5877c648279ddb675d07e1d",
+   "source_sha256": "b2fcef709086e19cb082ae12586aebd1a6fa9a92db90015c1c5a641f4588dfc7"
+  }
+ },
+ "input_fingerprint": "ea5a946cd029feb2",
+ "kind": "online_calibration",
+ "output_sha256": "3f1179d162d2205132aa69a9ed7885463cb3749b5c547964a9e018dcddc0d6c2",
+ "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": 36.423,
+  "left_eye": 39.212,
+  "left_front": 46.164,
+  "right": 38.01,
+  "right_eye": 39.14,
+  "right_front": 46.557
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   2016295623888,
+   2017295690555,
+   2018295535000,
+   2023295579444,
+   2024295546111,
+   2026295557222,
+   2027295557222,
+   2031295601666,
+   2032295612777,
+   2034295679444,
+   2035295568333,
+   2040295568333,
+   2041295535000,
+   2043295690555,
+   2044295612777,
+   2048295535000,
+   2049295535000,
+   2055295557222,
+   2056295557222,
+   2059295679444,
+   2060295568333,
+   2063295579444,
+   2064295557222,
+   2065295568333,
+   2071295557222,
+   2072295612777,
+   2073295546111,
+   2074295601666,
+   2077295612777,
+   2078295679444,
+   2084295668333,
+   2085295668333,
+   2086295546111,
+   2087295568333,
+   2092295535000,
+   2093295546111,
+   2098295601666,
+   2099295557222,
+   2100295557222,
+   2104295535000,
+   2105295557222,
+   2109295535000,
+   2110295557222,
+   2112295535000,
+   2113295535000,
+   2117295668333,
+   2118295690555,
+   2122295535000,
+   2123295579444,
+   2128295535000,
+   2129295601666,
+   2130295557222,
+   2135295535000,
+   2136295535000,
+   2139295546111,
+   2140295679444
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM32/session_022/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4fcc963bcce909589c421d7b8b9b38f600ab968a19e42f6e2c6268ea5386e5c
+size 766246

actions/locomanipulation/LM32/session_022/meta.json

@@ -388,8 +388,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -528,10 +528,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 10.53,
+    "offset_rotvec": [
+     0.1675,
+     0.0527,
+     0.0545
+    ],
+    "dev_deg": {
+     "median": 20.1,
+     "p90": 40.43
+    },
+    "samples": 3433,
+    "accepted": 2769,
+    "wrist_pos_err_mm_median": 50.9,
+    "per_camera": {
+     "head": {
+      "samples": 3433,
+      "accepted": 2769,
+      "gate_deg": 30.0,
+      "offset_deg": 10.53,
+      "tier": "primary",
+      "dev_deg_median": 20.1,
+      "wrist_pos_err_mm_median": 50.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11250,
+     "interpolated": 2904,
+     "mean_hand": 1800,
+     "no_body_fit": 2
+    },
+    "observed_fraction": 0.8871,
+    "observed_fraction_of_valid": 0.8872,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 14.61,
+     "smplx": 2.02
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.2,
+      "p90": 12.0
+     },
+     "registered": {
+      "median": 5.3,
+      "p90": 10.0
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 20.81,
+    "offset_rotvec": [
+     0.0441,
+     -0.2624,
+     -0.2473
+    ],
+    "dev_deg": {
+     "median": 8.97,
+     "p90": 25.09
+    },
+    "samples": 3814,
+    "accepted": 3494,
+    "wrist_pos_err_mm_median": 34.7,
+    "per_camera": {
+     "head": {
+      "samples": 3814,
+      "accepted": 3494,
+      "gate_deg": 30.0,
+      "offset_deg": 20.81,
+      "tier": "primary",
+      "dev_deg_median": 8.97,
+      "wrist_pos_err_mm_median": 34.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14026,
+     "interpolated": 690,
+     "mean_hand": 1238,
+     "no_body_fit": 2
+    },
+    "observed_fraction": 0.9223,
+    "observed_fraction_of_valid": 0.9224,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 17.08,
+     "smplx": 1.43
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 19.0,
+      "p90": 33.8
+     },
+     "registered": {
+      "median": 18.4,
+      "p90": 33.2
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:48:46.277654+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/LM32/session_022",
   "family": "locomanipulation",
   "primitive": "LM32",
   "source_session": "20261016/LM32/20261016_010357_session6"
+ },
+ "task": {
+  "primitive": "LM32",
+  "instruction": "Carry the lidded box and, while you are still walking, open the lid, then close it again. Repeat as you walk back and forth. Do not stop to do it."
  }
 }

actions/locomanipulation/LM32/session_022/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9a0f71a38b63b7395a5cc10909a55c13f2789cb0d61f9c5f15b2ea1287af0c1
+size 4885655