Release update 2026-11-05: new sessions, instructions, annotations (part 215)

actions/locomanipulation/LM26/session_001/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff93a3d79b6a8a947670ef835906ede7b79aae281017e553f250cc3a3751b432
+size 658095

actions/locomanipulation/LM26/session_001/meta.json

@@ -328,8 +328,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -508,10 +508,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.9139595809351777
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 10.97,
+    "offset_rotvec": [
+     -0.0532,
+     -0.1268,
+     -0.1333
+    ],
+    "dev_deg": {
+     "median": 9.75,
+     "p90": 19.76
+    },
+    "samples": 3388,
+    "accepted": 3303,
+    "wrist_pos_err_mm_median": 24.9,
+    "per_camera": {
+     "head": {
+      "samples": 3388,
+      "accepted": 3303,
+      "gate_deg": 30.0,
+      "offset_deg": 10.97,
+      "tier": "primary",
+      "dev_deg_median": 9.75,
+      "wrist_pos_err_mm_median": 24.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13252,
+     "interpolated": 216,
+     "mean_hand": 215,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9843,
+    "observed_fraction_of_valid": 0.9843,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 9.18,
+     "smplx": 0.74
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 11.3,
+      "p90": 13.9
+     },
+     "registered": {
+      "median": 13.3,
+      "p90": 14.2
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 12.15,
+    "offset_rotvec": [
+     -0.1567,
+     0.1423,
+     0.0127
+    ],
+    "dev_deg": {
+     "median": 6.65,
+     "p90": 12.18
+    },
+    "samples": 3365,
+    "accepted": 3346,
+    "wrist_pos_err_mm_median": 36.5,
+    "per_camera": {
+     "head": {
+      "samples": 3365,
+      "accepted": 3346,
+      "gate_deg": 30.0,
+      "offset_deg": 12.15,
+      "tier": "primary",
+      "dev_deg_median": 6.65,
+      "wrist_pos_err_mm_median": 36.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13396,
+     "interpolated": 60,
+     "mean_hand": 227,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9834,
+    "observed_fraction_of_valid": 0.9834,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 10.44,
+     "smplx": 0.93
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.8,
+      "p90": 10.2
+     },
+     "registered": {
+      "median": 9.6,
+      "p90": 10.0
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T16:21:50.522167+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/LM26/session_001",
   "family": "locomanipulation",
   "primitive": "LM26",
   "source_session": "20260910/LM26/20260910_032558_session61"
+ },
+ "task": {
+  "primitive": "LM26",
+  "instruction": "Carry the box across the room while freely looking around at the walls, ceiling and floor. Keep going until the operator says stop; one object at a time, and do not rush between trips."
  }
 }

actions/locomanipulation/LM26/session_001/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e49a098dad81d7b0069aa3423eedd10d50c7f9e5d5670b78b47b91535f1b1a5
+size 4564092

actions/locomanipulation/LM26/session_001/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e59fae87c0fb9ad3a010c071bdbe8eccbc2e0f6b31d2743665fcaa1bfd35c359
-size 5260658
+oid sha256:90540478ece94125a1ecdd62c4d5dc74ae38808585e09d582bba717baf6d232c
+size 9802956

actions/locomanipulation/LM26/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": "LM26",
+ "instruction": "Carry the box across the room while freely looking around at the walls, ceiling and floor. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 118.966567,
+   "video": "left_eye",
+   "video_t_start": 0.03926989401190317
+  }
+ ],
+ "episodes": [
+  {
+   "id": "717175a8-138f-4dd3-afb2-21b243c97637",
+   "segment": "segment1",
+   "action": "LM26",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 112.95,
+   "t_start": 0.0393,
+   "t_end": 112.9893,
+   "instruction": "Carry the box across the room while freely looking around at the walls, ceiling and floor. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}

actions/locomanipulation/LM26/session_002/cameras/gsi_online_calibration.json

@@ -0,0 +1,255 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.363
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.745,
+   "gate_fail": [],
+   "held_out_px_after": 0.42,
+   "held_out_px_before": 2.371,
+   "inliers": 3260,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.4845,
+    -0.3209,
+    -0.4662
+   ],
+   "split_deg": 0.0213,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.7527,
+   "gate_fail": [],
+   "held_out_px_after": 0.374,
+   "held_out_px_before": 7.012,
+   "inliers": 4699,
+   "position_fitted": true,
+   "position_mm": [
+    2.41,
+    -15.77,
+    1.73
+   ],
+   "position_sigma_mm": 0.314,
+   "position_split_mm": 2.888,
+   "rotvec_deg": [
+    0.2708,
+    0.652,
+    -1.6042
+   ],
+   "split_deg": 0.0583,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.1977,
+   "gate_fail": [],
+   "held_out_px_after": 0.638,
+   "held_out_px_before": 5.33,
+   "inliers": 1166,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.032,
+    -0.4532,
+    0.4051
+   ],
+   "split_deg": 0.0837,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.5883,
+   "gate_fail": [],
+   "held_out_px_after": 0.366,
+   "held_out_px_before": 2.642,
+   "inliers": 5116,
+   "position_fitted": true,
+   "position_mm": [
+    4.49,
+    -16.52,
+    3.41
+   ],
+   "position_sigma_mm": 0.394,
+   "position_split_mm": 2.322,
+   "rotvec_deg": [
+    0.3449,
+    -0.4014,
+    -0.2569
+   ],
+   "split_deg": 0.0594,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0588,
+   "gate_fail": [],
+   "held_out_px_after": 0.319,
+   "held_out_px_before": 4.66,
+   "inliers": 3865,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3699,
+    -0.0038,
+    -0.9921
+   ],
+   "split_deg": 0.0163,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "2909703074d34b266698b26cc935c905f8dd4702126ba7c61d27a7c6ca1441c8",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "961ff0e168b050ca5eafbe42357ccf2cc6f969d2af2da57f598138cb2694947b",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "de29a5196a0f580bbcd2f0f6e87a7dffdfc8b0d9cec44b36b421ef3118442c13",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "5133e130621436c7cf4b51fa82471c1d696f2b6b3746a7f5e2dcb9ed49a884cc",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "2ff2a354b56356f9",
+ "kind": "online_calibration",
+ "output_sha256": "10971ba811971cdb9eb6c1d6fbe94ddbfb2c9ee8de93847e0b7297792eafceb6",
+ "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": 39.863,
+  "left_eye": 41.675,
+  "left_front": 50.045,
+  "right": 40.534,
+  "right_eye": 43.332,
+  "right_front": 43.999
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   11011657971888,
+   11012657971888,
+   11014657960777,
+   11015657971888,
+   11017658049666,
+   11018657927444,
+   11020657971888,
+   11021658016333,
+   11026657971888,
+   11027657960777,
+   11030657971888,
+   11031657960777,
+   11032657938555,
+   11037658083000,
+   11038657971888,
+   11040657960777,
+   11041658005222,
+   11044657983000,
+   11045657971888,
+   11047657971888,
+   11048657971888,
+   11052657938555,
+   11053657960777,
+   11054657971888,
+   11055657971888,
+   11061657960777,
+   11062657971888,
+   11065657971888,
+   11066657971888,
+   11068657960777,
+   11069657983000,
+   11070657971888,
+   11075657960777,
+   11076657971888,
+   11080657983000,
+   11081657971888,
+   11082657971888,
+   11086657960777,
+   11087657971888,
+   11088657971888,
+   11089658016333,
+   11092657971888,
+   11093657971888,
+   11096657983000,
+   11097657983000,
+   11101657971888,
+   11102657938555,
+   11106657971888,
+   11107657971888,
+   11110657971888,
+   11111657971888,
+   11112657960777,
+   11115657971888,
+   11116657960777,
+   11120657971888,
+   11121657971888
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM26/session_002/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb1d961657ee79dc69df42a2ac60e4c5811be58634991a5478ba8de39e2ce741
+size 685047

actions/locomanipulation/LM26/session_002/meta.json

@@ -328,8 +328,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -508,10 +508,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.9878750551604368
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 11.14,
+    "offset_rotvec": [
+     -0.0454,
+     -0.1381,
+     -0.129
+    ],
+    "dev_deg": {
+     "median": 8.27,
+     "p90": 16.69
+    },
+    "samples": 3542,
+    "accepted": 3529,
+    "wrist_pos_err_mm_median": 27.2,
+    "per_camera": {
+     "head": {
+      "samples": 3542,
+      "accepted": 3529,
+      "gate_deg": 30.0,
+      "offset_deg": 11.14,
+      "tier": "primary",
+      "dev_deg_median": 8.27,
+      "wrist_pos_err_mm_median": 27.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14136,
+     "interpolated": 56,
+     "mean_hand": 92,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9936,
+    "observed_fraction_of_valid": 0.9936,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 9.03,
+     "smplx": 0.91
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.7,
+      "p90": 12.1
+     },
+     "registered": {
+      "median": 11.9,
+      "p90": 13.3
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 10.28,
+    "offset_rotvec": [
+     -0.1147,
+     0.1358,
+     -0.0245
+    ],
+    "dev_deg": {
+     "median": 5.94,
+     "p90": 10.78
+    },
+    "samples": 3481,
+    "accepted": 3439,
+    "wrist_pos_err_mm_median": 34.6,
+    "per_camera": {
+     "head": {
+      "samples": 3481,
+      "accepted": 3439,
+      "gate_deg": 30.0,
+      "offset_deg": 10.28,
+      "tier": "primary",
+      "dev_deg_median": 5.94,
+      "wrist_pos_err_mm_median": 34.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13776,
+     "interpolated": 208,
+     "mean_hand": 300,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.979,
+    "observed_fraction_of_valid": 0.979,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 9.02,
+     "smplx": 0.78
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.2,
+      "p90": 10.5
+     },
+     "registered": {
+      "median": 8.9,
+      "p90": 10.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T16:21:50.324600+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/LM26/session_002",
   "family": "locomanipulation",
   "primitive": "LM26",
   "source_session": "20260910/LM26/20260910_032805_session62"
+ },
+ "task": {
+  "primitive": "LM26",
+  "instruction": "Carry the box across the room while freely looking around at the walls, ceiling and floor. Keep going until the operator says stop; one object at a time, and do not rush between trips."
  }
 }

actions/locomanipulation/LM26/session_002/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8b506fcb54d345e382939eea38b21315bb9e185be294ae8fc02e0316b5b7c54
+size 4741769

actions/locomanipulation/LM26/session_002/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:92b85b1c260c9e73bf5149eae00adcce0dab743af36bc42b5437b1c2aab570b8
-size 5478930
+oid sha256:14f7d66a1ffc79d02d7c15a117180af5b9f0e07de587441193d306ea6d78c876
+size 10227155

actions/locomanipulation/LM26/session_003/annotations.json

@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "LM26",
+ "instruction": "Carry the box across the room while freely looking around at the walls, ceiling and floor. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 113.966522,
+   "video": "left_eye",
+   "video_t_start": 0.03904058965027146
+  }
+ ],
+ "episodes": [
+  {
+   "id": "4af94c75-1375-4250-88bb-6e3d3fe14483",
+   "segment": "segment1",
+   "action": "LM26",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 107.46,
+   "t_start": 0.039,
+   "t_end": 107.499,
+   "instruction": "Carry the box across the room while freely looking around at the walls, ceiling and floor. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}

actions/locomanipulation/LM26/session_003/cameras/gsi_online_calibration.json

@@ -0,0 +1,255 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.376
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.2288,
+   "gate_fail": [],
+   "held_out_px_after": 0.55,
+   "held_out_px_before": 4.116,
+   "inliers": 2292,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.7225,
+    -0.2558,
+    -0.9604
+   ],
+   "split_deg": 0.1392,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.5713,
+   "gate_fail": [],
+   "held_out_px_after": 0.414,
+   "held_out_px_before": 5.06,
+   "inliers": 3962,
+   "position_fitted": true,
+   "position_mm": [
+    3.24,
+    -15.11,
+    7.12
+   ],
+   "position_sigma_mm": 0.239,
+   "position_split_mm": 2.805,
+   "rotvec_deg": [
+    0.1124,
+    0.5912,
+    -1.4515
+   ],
+   "split_deg": 0.0261,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.7275,
+   "gate_fail": [],
+   "held_out_px_after": 0.458,
+   "held_out_px_before": 7.364,
+   "inliers": 2075,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.4369,
+    -0.218,
+    0.934
+   ],
+   "split_deg": 0.085,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.5916,
+   "gate_fail": [],
+   "held_out_px_after": 0.385,
+   "held_out_px_before": 3.865,
+   "inliers": 4115,
+   "position_fitted": true,
+   "position_mm": [
+    7.78,
+    -15.72,
+    7.0
+   ],
+   "position_sigma_mm": 0.255,
+   "position_split_mm": 1.807,
+   "rotvec_deg": [
+    0.2969,
+    -0.4824,
+    -0.1706
+   ],
+   "split_deg": 0.0173,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.174,
+   "gate_fail": [],
+   "held_out_px_after": 0.348,
+   "held_out_px_before": 4.277,
+   "inliers": 4945,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2893,
+    -0.0383,
+    -1.1371
+   ],
+   "split_deg": 0.0332,
+   "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": "ee00cb39ef1f7d4daf687c010aa4fa948cf2a896ac3712149bee47a4b89577e2",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "fd37f3de524f9025234e42ac9b68cec4c1314948017010c1669cad5502aa1459",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "87a5e917ecafd298eb4f2eba113f1a4fcc5091c12122dfd719414de8107a8d94",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "cbefe61e7ac14117de77a28b6b6930728f030a99fdf414b56139b7f5f97eb9d5",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "dd84333e17fcd477",
+ "kind": "online_calibration",
+ "output_sha256": "88139b92d146c4148be798e2782a55a83489d18aec50b9dd7b699caf060dd08f",
+ "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": 39.143,
+  "left_eye": 41.925,
+  "left_front": 42.723,
+  "right": 49.59,
+  "right_eye": 42.238,
+  "right_front": 41.288
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   39030296849111,
+   39031296815777,
+   39032296815777,
+   39033296815777,
+   39037296804666,
+   39038296815777,
+   39040296838000,
+   39041296793555,
+   39044296815777,
+   39045296815777,
+   39048296815777,
+   39049296826888,
+   39051296826888,
+   39052296826888,
+   39053296938000,
+   39054296960222,
+   39058296782444,
+   39059296849111,
+   39060296915777,
+   39061296815777,
+   39065296826888,
+   39066296826888,
+   39067296826888,
+   39068296826888,
+   39073296804666,
+   39074296826888,
+   39075296815777,
+   39081296815777,
+   39082296826888,
+   39083296826888,
+   39084296815777,
+   39088296815777,
+   39089296815777,
+   39090296838000,
+   39095296815777,
+   39096296938000,
+   39097296815777,
+   39098296871333,
+   39102296871333,
+   39103296793555,
+   39104296793555,
+   39109296804666,
+   39110296815777,
+   39111296826888,
+   39114296815777,
+   39115296815777,
+   39118296871333,
+   39119296815777,
+   39122296838000,
+   39123296815777,
+   39125296815777,
+   39126296826888,
+   39129296815777,
+   39130296926888,
+   39134296804666,
+   39135296826888
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM26/session_003/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b5a833373d26f88310e3384797e0d200e820176d5ce03bba6b4e4c24de24d71
+size 658610

actions/locomanipulation/LM26/session_003/meta.json

@@ -318,8 +318,8 @@
   "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": {
@@ -514,10 +514,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.5131593098067104
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 9.19,
+    "offset_rotvec": [
+     -0.0705,
+     0.1064,
+     0.0973
+    ],
+    "dev_deg": {
+     "median": 9.06,
+     "p90": 16.52
+    },
+    "samples": 3309,
+    "accepted": 3279,
+    "wrist_pos_err_mm_median": 35.7,
+    "per_camera": {
+     "head": {
+      "samples": 3309,
+      "accepted": 3279,
+      "gate_deg": 30.0,
+      "offset_deg": 9.19,
+      "tier": "primary",
+      "dev_deg_median": 9.06,
+      "wrist_pos_err_mm_median": 35.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13150,
+     "interpolated": 310,
+     "mean_hand": 181,
+     "no_body_fit": 43
+    },
+    "observed_fraction": 0.9836,
+    "observed_fraction_of_valid": 0.9867,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 10.69,
+     "smplx": 0.93
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.3,
+      "p90": 14.3
+     },
+     "registered": {
+      "median": 9.7,
+      "p90": 13.1
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 11.19,
+    "offset_rotvec": [
+     0.1178,
+     0.1115,
+     -0.1088
+    ],
+    "dev_deg": {
+     "median": 10.59,
+     "p90": 20.25
+    },
+    "samples": 3356,
+    "accepted": 3271,
+    "wrist_pos_err_mm_median": 37.4,
+    "per_camera": {
+     "head": {
+      "samples": 3356,
+      "accepted": 3271,
+      "gate_deg": 30.0,
+      "offset_deg": 11.19,
+      "tier": "primary",
+      "dev_deg_median": 10.59,
+      "wrist_pos_err_mm_median": 37.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13134,
+     "interpolated": 374,
+     "mean_hand": 133,
+     "no_body_fit": 43
+    },
+    "observed_fraction": 0.9871,
+    "observed_fraction_of_valid": 0.9902,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 8.96,
+     "smplx": 0.72
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.3,
+      "p90": 7.3
+     },
+     "registered": {
+      "median": 6.2,
+      "p90": 7.2
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T16:22:10.122635+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/LM26/session_003",
   "family": "locomanipulation",
   "primitive": "LM26",
   "source_session": "20260910/LM26/20260910_111503_session190"
+ },
+ "task": {
+  "primitive": "LM26",
+  "instruction": "Carry the box across the room while freely looking around at the walls, ceiling and floor. Keep going until the operator says stop; one object at a time, and do not rush between trips."
  }
 }

actions/locomanipulation/LM26/session_003/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77cced6e4d6393fbe153935ca50d36c1923830117d8598536ff76f3a9a8283d7
+size 4525847

actions/locomanipulation/LM26/session_003/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2db93a556640387bc560dde12e1ae7c4e3ccb49b8b35b3f9256e7104a3553114
-size 5273157
+oid sha256:b8122a1b00ce4bc03545fa875b483656e3b09de5e654584e3ea200715dc1b2db
+size 9819388

actions/locomanipulation/LM26/session_004/annotations.json

@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "LM26",
+ "instruction": "Carry the box across the room while freely looking around at the walls, ceiling and floor. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 108.966556,
+   "video": "left_eye",
+   "video_t_start": 0.03910234354197484
+  }
+ ],
+ "episodes": [
+  {
+   "id": "3b60b11e-4f15-479a-b581-4ffdb37de390",
+   "segment": "segment1",
+   "action": "LM26",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 105.146,
+   "t_start": 0.0391,
+   "t_end": 105.1851,
+   "instruction": "Carry the box across the room while freely looking around at the walls, ceiling and floor. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}

actions/locomanipulation/LM26/session_004/cameras/gsi_online_calibration.json

@@ -0,0 +1,258 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.389
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.3422,
+   "gate_fail": [],
+   "held_out_px_after": 0.547,
+   "held_out_px_before": 4.178,
+   "inliers": 2231,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.8107,
+    -0.2779,
+    -1.0331
+   ],
+   "split_deg": 0.0724,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.6689,
+   "gate_fail": [],
+   "held_out_px_after": 0.441,
+   "held_out_px_before": 4.98,
+   "inliers": 3097,
+   "position_fitted": true,
+   "position_mm": [
+    1.76,
+    -12.84,
+    7.13
+   ],
+   "position_sigma_mm": 0.317,
+   "position_split_mm": 3.951,
+   "rotvec_deg": [
+    0.1496,
+    0.6294,
+    -1.5384
+   ],
+   "split_deg": 0.0399,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 1.6744,
+   "gate_fail": [],
+   "held_out_px_after": 0.617,
+   "held_out_px_before": 6.933,
+   "inliers": 1712,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.4075,
+    -0.2267,
+    0.8781
+   ],
+   "split_deg": 0.0459,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.5926,
+   "gate_fail": [],
+   "held_out_px_after": 0.405,
+   "held_out_px_before": 3.609,
+   "inliers": 3499,
+   "position_fitted": true,
+   "position_mm": [
+    6.62,
+    -13.9,
+    7.64
+   ],
+   "position_sigma_mm": 0.326,
+   "position_split_mm": 2.89,
+   "rotvec_deg": [
+    0.3154,
+    -0.4475,
+    -0.2269
+   ],
+   "split_deg": 0.0406,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.1648,
+   "gate_fail": [],
+   "held_out_px_after": 0.34,
+   "held_out_px_before": 4.521,
+   "inliers": 4387,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2935,
+    -0.0297,
+    -1.1268
+   ],
+   "split_deg": 0.018,
+   "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": "b7bb688647cb198dc44cd932964cb71fc3e7fd66b736e2951a27092a5bc7389f",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "9a40af5743b34b84ce93c8efc0e23aa51ff2f0520ddaf29db6dcc7cd1aea3609",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "d7c2156ce390c0fb1460a0c5ce8e534fa558f7c21957210a3d290b0a1d075b08",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "c906fc81471001ba8f4e07f738ae7e0128d899debffe2ce377fd6972f1674556",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "6b7bf304f39e956c",
+ "kind": "online_calibration",
+ "output_sha256": "f8161e6bc873fa5c9b8a71ca55e9863ce6ba2ffe422e9a276f6ae23774c96d32",
+ "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": 42.474,
+  "left_eye": 42.111,
+  "left_front": 40.984,
+  "right": 47.107,
+  "right_eye": 42.134,
+  "right_front": 40.507
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   39159190975000,
+   39160190975000,
+   39165190963888,
+   39166190975000,
+   39167190963888,
+   39173190963888,
+   39174190975000,
+   39176190963888,
+   39177190963888,
+   39179190975000,
+   39180190997222,
+   39183190975000,
+   39184190963888,
+   39185190975000,
+   39186190975000,
+   39190191075000,
+   39191190975000,
+   39192190975000,
+   39193190963888,
+   39195190963888,
+   39196190975000,
+   39200190986111,
+   39201191097222,
+   39204190975000,
+   39205190975000,
+   39206190963888,
+   39209191019444,
+   39210190963888,
+   39214190963888,
+   39215190963888,
+   39218191086111,
+   39219190986111,
+   39220191052777,
+   39222190997222,
+   39223190963888,
+   39228190986111,
+   39229190975000,
+   39232190963888,
+   39233190963888,
+   39236190963888,
+   39237190975000,
+   39239190975000,
+   39240190986111,
+   39241190963888,
+   39242190975000,
+   39245190986111,
+   39246190963888,
+   39249190963888,
+   39250190975000,
+   39252190975000,
+   39253190963888,
+   39254190963888,
+   39255190963888,
+   39257190975000,
+   39258190963888,
+   39262190975000,
+   39263190963888
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM26/session_004/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:870553911fb13fa0b584971820ee4cb47bc7dc555843a2759958bf5b3d992341
+size 629931

actions/locomanipulation/LM26/session_004/meta.json

@@ -327,8 +327,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -517,10 +517,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.3436021010102241
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 8.3,
+    "offset_rotvec": [
+     -0.0182,
+     0.0531,
+     0.1336
+    ],
+    "dev_deg": {
+     "median": 8.82,
+     "p90": 18.22
+    },
+    "samples": 3179,
+    "accepted": 3102,
+    "wrist_pos_err_mm_median": 35.6,
+    "per_camera": {
+     "head": {
+      "samples": 3179,
+      "accepted": 3102,
+      "gate_deg": 30.0,
+      "offset_deg": 8.3,
+      "tier": "primary",
+      "dev_deg_median": 8.82,
+      "wrist_pos_err_mm_median": 35.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12488,
+     "interpolated": 572,
+     "mean_hand": 22,
+     "no_body_fit": 2
+    },
+    "observed_fraction": 0.9982,
+    "observed_fraction_of_valid": 0.9983,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 8.29,
+     "smplx": 1.24
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.4,
+      "p90": 12.0
+     },
+     "registered": {
+      "median": 8.5,
+      "p90": 11.1
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 17.8,
+    "offset_rotvec": [
+     0.1911,
+     0.2437,
+     -0.0245
+    ],
+    "dev_deg": {
+     "median": 12.71,
+     "p90": 23.14
+    },
+    "samples": 3247,
+    "accepted": 3166,
+    "wrist_pos_err_mm_median": 43.4,
+    "per_camera": {
+     "head": {
+      "samples": 3247,
+      "accepted": 3166,
+      "gate_deg": 30.0,
+      "offset_deg": 17.8,
+      "tier": "primary",
+      "dev_deg_median": 12.71,
+      "wrist_pos_err_mm_median": 43.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12742,
+     "interpolated": 330,
+     "mean_hand": 10,
+     "no_body_fit": 2
+    },
+    "observed_fraction": 0.9991,
+    "observed_fraction_of_valid": 0.9992,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 18.75,
+     "smplx": 0.92
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.3,
+      "p90": 8.1
+     },
+     "registered": {
+      "median": 7.2,
+      "p90": 8.2
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T16:22:06.620161+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/LM26/session_004",
   "family": "locomanipulation",
   "primitive": "LM26",
   "source_session": "20260910/LM26/20260910_111715_session191"
+ },
+ "task": {
+  "primitive": "LM26",
+  "instruction": "Carry the box across the room while freely looking around at the walls, ceiling and floor. Keep going until the operator says stop; one object at a time, and do not rush between trips."
  }
 }

actions/locomanipulation/LM26/session_004/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30acb81159ff7f53f3fc5d7b9a3ec3c1d3e639d0c128eea8ba147464792fbf14
+size 4358802

actions/locomanipulation/LM26/session_004/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b38aca9029e919e4c0d7e0bf7ff6c962badce8d8d94b1fd999ef5028cd7e9cf9
-size 5062807
+oid sha256:5de6eb62f2f0ac8952ff30091c08ed806ccbc5647250ca5705e81245347bfdb7
+size 9441353

actions/locomanipulation/LM26/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": "LM26",
+ "instruction": "Carry the box across the room while freely looking around at the walls, ceiling and floor. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 113.966633,
+   "video": "left_eye",
+   "video_t_start": 0.03893806977770842
+  }
+ ],
+ "episodes": [
+  {
+   "id": "6bf9714d-fec8-4a8a-8ebc-8c45648e06f5",
+   "segment": "segment1",
+   "action": "LM26",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 107.303,
+   "t_start": 0.0389,
+   "t_end": 107.3419,
+   "instruction": "Carry the box across the room while freely looking around at the walls, ceiling and floor. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}

actions/locomanipulation/LM26/session_005/cameras/gsi_online_calibration.json

@@ -0,0 +1,256 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.403
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.2524,
+   "gate_fail": [],
+   "held_out_px_after": 0.537,
+   "held_out_px_before": 4.149,
+   "inliers": 2084,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.7643,
+    -0.223,
+    -0.9667
+   ],
+   "split_deg": 0.0385,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.6152,
+   "gate_fail": [],
+   "held_out_px_after": 0.425,
+   "held_out_px_before": 4.909,
+   "inliers": 3181,
+   "position_fitted": true,
+   "position_mm": [
+    5.93,
+    -17.27,
+    6.65
+   ],
+   "position_sigma_mm": 0.262,
+   "position_split_mm": 2.481,
+   "rotvec_deg": [
+    0.0699,
+    0.5753,
+    -1.5077
+   ],
+   "split_deg": 0.0215,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.6216,
+   "gate_fail": [],
+   "held_out_px_after": 0.547,
+   "held_out_px_before": 7.185,
+   "inliers": 1956,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.3573,
+    -0.3302,
+    0.8236
+   ],
+   "split_deg": 0.1162,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.5543,
+   "gate_fail": [],
+   "held_out_px_after": 0.409,
+   "held_out_px_before": 3.716,
+   "inliers": 3391,
+   "position_fitted": true,
+   "position_mm": [
+    7.29,
+    -18.03,
+    6.33
+   ],
+   "position_sigma_mm": 0.269,
+   "position_split_mm": 2.517,
+   "rotvec_deg": [
+    0.2408,
+    -0.4578,
+    -0.1991
+   ],
+   "split_deg": 0.022,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.1781,
+   "gate_fail": [],
+   "held_out_px_after": 0.366,
+   "held_out_px_before": 4.711,
+   "inliers": 4341,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2845,
+    -0.0415,
+    -1.1425
+   ],
+   "split_deg": 0.0291,
+   "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": "fd676df018aa18746a6c19da3bd260fc162b7e63bdc31e74502f4551e49bd59e",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "6ba5f68b80e0c89b8a2139e280b0687f5001508be7c863bab0c38e7d390b849a",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "f834c0443bb0109306799e60a5cf69f8bad06a318cf8a0a6f9603f3003cc3c51",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "a11ad6c815784aa78b9815755406d15a9dc3772b85860a5628737efe84131f8e",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "8c3a7ac66494c764",
+ "kind": "online_calibration",
+ "output_sha256": "f0f51b1d39104ee2177904bef9dba730a962fd2458ad68bca28c6452b1510a3e",
+ "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": 44.537,
+  "left_eye": 42.198,
+  "left_front": 41.878,
+  "right": 51.549,
+  "right_eye": 43.221,
+  "right_front": 41.399
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   39294415235888,
+   39295415224777,
+   39296415224777,
+   39299415347000,
+   39300415202555,
+   39303415224777,
+   39304415335888,
+   39306415224777,
+   39307415235888,
+   39311415224777,
+   39312415224777,
+   39314415358111,
+   39315415335888,
+   39318415224777,
+   39319415247000,
+   39322415202555,
+   39323415235888,
+   39327415224777,
+   39328415335888,
+   39329415202555,
+   39333415224777,
+   39334415235888,
+   39337415202555,
+   39338415213666,
+   39341415235888,
+   39342415369222,
+   39343415224777,
+   39348415224777,
+   39349415224777,
+   39351415224777,
+   39352415269222,
+   39355415224777,
+   39356415213666,
+   39358415335888,
+   39359415224777,
+   39362415213666,
+   39363415224777,
+   39365415224777,
+   39366415224777,
+   39369415224777,
+   39370415202555,
+   39371415202555,
+   39372415235888,
+   39376415324777,
+   39377415224777,
+   39378415335888,
+   39379415224777,
+   39383415224777,
+   39384415224777,
+   39386415202555,
+   39387415224777,
+   39391415224777,
+   39392415224777,
+   39395415224777,
+   39396415224777,
+   39398415224777,
+   39399415224777
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM26/session_005/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:399d9f4480ff3e778d5a556ff8936d930d86be51ff1bf5cfa91ecc09d8c3bfe1
+size 659592

actions/locomanipulation/LM26/session_005/meta.json

@@ -326,8 +326,8 @@
   "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": {
@@ -521,10 +521,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.4746276109866705
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 5.73,
+    "offset_rotvec": [
+     0.0037,
+     -0.0027,
+     0.0999
+    ],
+    "dev_deg": {
+     "median": 9.04,
+     "p90": 19.99
+    },
+    "samples": 3290,
+    "accepted": 3160,
+    "wrist_pos_err_mm_median": 33.4,
+    "per_camera": {
+     "head": {
+      "samples": 3290,
+      "accepted": 3160,
+      "gate_deg": 30.0,
+      "offset_deg": 5.73,
+      "tier": "primary",
+      "dev_deg_median": 9.04,
+      "wrist_pos_err_mm_median": 33.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12681,
+     "interpolated": 534,
+     "mean_hand": 461,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9657,
+    "observed_fraction_of_valid": 0.9663,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 7.25,
+     "smplx": 1.13
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.9,
+      "p90": 13.1
+     },
+     "registered": {
+      "median": 8.0,
+      "p90": 12.7
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 22.06,
+    "offset_rotvec": [
+     0.2309,
+     0.3019,
+     0.0618
+    ],
+    "dev_deg": {
+     "median": 16.73,
+     "p90": 27.77
+    },
+    "samples": 3272,
+    "accepted": 3035,
+    "wrist_pos_err_mm_median": 42.9,
+    "per_camera": {
+     "head": {
+      "samples": 3272,
+      "accepted": 3035,
+      "gate_deg": 30.0,
+      "offset_deg": 22.06,
+      "tier": "primary",
+      "dev_deg_median": 16.73,
+      "wrist_pos_err_mm_median": 42.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12311,
+     "interpolated": 1360,
+     "mean_hand": 5,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.999,
+    "observed_fraction_of_valid": 0.9996,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 23.73,
+     "smplx": 1.04
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.9,
+      "p90": 8.5
+     },
+     "registered": {
+      "median": 6.2,
+      "p90": 8.0
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T16:22:08.219150+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/LM26/session_005",
   "family": "locomanipulation",
   "primitive": "LM26",
   "source_session": "20260910/LM26/20260910_111927_session192"
+ },
+ "task": {
+  "primitive": "LM26",
+  "instruction": "Carry the box across the room while freely looking around at the walls, ceiling and floor. Keep going until the operator says stop; one object at a time, and do not rush between trips."
  }
 }

actions/locomanipulation/LM26/session_005/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b375bef76d18f9c383cab6f20f3a192f5181b1bcda173b922c14c4e1991164f3
+size 4459507

actions/locomanipulation/LM26/session_005/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6486a1400122adf83c055d2447b549e29daa95d373d1765ccfec1ea6423b0164
-size 5284505
+oid sha256:531285cb3129bf21cb454558a3f647aeab929543df4fb880f8f6ef03301568e6
+size 9815673

actions/locomanipulation/LM26/session_006/annotations.json

@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "LM26",
+ "instruction": "Carry the box across the room while freely looking around at the walls, ceiling and floor. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 108.966656,
+   "video": "left_eye",
+   "video_t_start": 0.03912398334821354
+  }
+ ],
+ "episodes": [
+  {
+   "id": "873616a3-5b68-4489-98ad-9c06e48ba2b6",
+   "segment": "segment1",
+   "action": "LM26",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 105.477,
+   "t_start": 0.0391,
+   "t_end": 105.5161,
+   "instruction": "Carry the box across the room while freely looking around at the walls, ceiling and floor. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}

actions/locomanipulation/LM26/session_006/cameras/gsi_online_calibration.json

@@ -0,0 +1,264 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 161,
+    "median_px": 6.97,
+    "pair": [
+     "right_eye",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 13,
+  "median_px": 0.349
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.7362,
+   "gate_fail": [],
+   "held_out_px_after": 0.466,
+   "held_out_px_before": 6.688,
+   "inliers": 3993,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.3749,
+    -0.3104,
+    -0.5524
+   ],
+   "split_deg": 0.0391,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.0149,
+   "gate_fail": [],
+   "held_out_px_after": 0.347,
+   "held_out_px_before": 7.159,
+   "inliers": 6802,
+   "position_fitted": true,
+   "position_mm": [
+    -1.26,
+    -11.17,
+    4.04
+   ],
+   "position_sigma_mm": 0.268,
+   "position_split_mm": 4.341,
+   "rotvec_deg": [
+    0.2086,
+    0.6069,
+    -1.91
+   ],
+   "split_deg": 0.0039,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye"
+   ],
+   "delta_deg": 0.7789,
+   "gate_fail": [],
+   "held_out_px_after": 0.506,
+   "held_out_px_before": 3.474,
+   "inliers": 574,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.721,
+    -0.1589,
+    -0.2483
+   ],
+   "split_deg": 0.1365,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left"
+   ],
+   "delta_deg": 0.808,
+   "gate_fail": [],
+   "held_out_px_after": 0.368,
+   "held_out_px_before": 2.934,
+   "inliers": 6881,
+   "position_fitted": false,
+   "position_rejected": {
+    "position_mm": [
+     5.41,
+     -15.5,
+     3.21
+    ],
+    "position_sigma_mm": 0.326,
+    "position_split_mm": 10.221
+   },
+   "rotvec_deg": [
+    0.4487,
+    -0.4762,
+    -0.4741
+   ],
+   "split_deg": 0.0423,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.3703,
+   "gate_fail": [],
+   "held_out_px_after": 0.296,
+   "held_out_px_before": 4.494,
+   "inliers": 6652,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.4736,
+    -0.0543,
+    -1.2847
+   ],
+   "split_deg": 0.0134,
+   "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": "38cfe43d0b3e26205a51638897ec7908746d139250b019a3b3c4c9ee18f2b731",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "8b8480f89d6ea637cbcb74ae17f105ae7a7dbee3078c27f2e9b1f5f726d7095d",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "32011452feb19600c48bbb76207cf4926ce59060662a4b83d11cb62c4a60a4ab",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "86f4d30fbaff7dc6ecbf9eaf77b4d14d0e4abeb27dd83fd910101c9204826148",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "e31ef1ad2be03479",
+ "kind": "online_calibration",
+ "output_sha256": "3a6af5e320f346912fccd92c6fdedc196ccb73916dd70ff4fc857dd1f70eff1d",
+ "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": 44.099,
+  "left_eye": 46.253,
+  "left_front": 45.336,
+  "right": 45.516,
+  "right_eye": 47.147,
+  "right_front": 46.134
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   3344462687000,
+   3345462687000,
+   3349462809222,
+   3350462653666,
+   3354462687000,
+   3355462675888,
+   3358462687000,
+   3359462664777,
+   3360462675888,
+   3365462653666,
+   3366462687000,
+   3368462687000,
+   3369462753666,
+   3370462664777,
+   3371462687000,
+   3373462687000,
+   3374462687000,
+   3377462687000,
+   3378462764777,
+   3381462664777,
+   3382462687000,
+   3386462675888,
+   3387462653666,
+   3388462664777,
+   3393462664777,
+   3394462653666,
+   3395462653666,
+   3399462664777,
+   3400462687000,
+   3401462753666,
+   3402462809222,
+   3405462698111,
+   3406462653666,
+   3409462698111,
+   3410462675888,
+   3413462687000,
+   3414462664777,
+   3417462675888,
+   3418462664777,
+   3421462687000,
+   3422462809222,
+   3423462775888,
+   3424462809222,
+   3426462731444,
+   3427462664777,
+   3429462687000,
+   3430462664777,
+   3434462675888,
+   3435462753666,
+   3436462687000,
+   3437462675888,
+   3442462687000,
+   3443462687000,
+   3444462687000,
+   3447462664777,
+   3448462675888
+  ]
+ },
+ "version": 1
+}