Release update 2026-11-05: new sessions, instructions, annotations (part 205)

actions/locomanipulation/LM25/session_023/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d6e35718b37903af8377d80098dbbd0721d3ded20649187dcac3786a85e34e60
-size 5964370
+oid sha256:968914660311cd71851d66d157927c1d9c8ed05d4015a572ae3ea1ac5fa7950c
+size 10974946

actions/locomanipulation/LM25/session_024/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": "LM25",
+ "instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 133.966622,
+   "video": "left_eye",
+   "video_t_start": 0.03888604173686083
+  }
+ ],
+ "episodes": [
+  {
+   "id": "093ccdd7-6b0b-4295-b02e-bf40a3eb8ef0",
+   "segment": "segment1",
+   "action": "LM25",
+   "quality": "valid",
+   "start_s": 0.528,
+   "end_s": 125.542,
+   "t_start": 0.5669,
+   "t_end": 125.5809,
+   "instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down."
+  }
+ ]
+}

actions/locomanipulation/LM25/session_024/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ecf427c69390e408bd63102bf20ce3cf2af3ebd555b015ed8d0a9716e9ec8be
+size 769813

actions/locomanipulation/LM25/session_024/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": {
@@ -489,12 +489,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 17.35,
+    "offset_rotvec": [
+     0.2792,
+     0.062,
+     0.0995
+    ],
+    "dev_deg": {
+     "median": 4.58,
+     "p90": 12.48
+    },
+    "samples": 3963,
+    "accepted": 3952,
+    "wrist_pos_err_mm_median": 34.3,
+    "per_camera": {
+     "head": {
+      "samples": 3963,
+      "accepted": 3952,
+      "gate_deg": 30.0,
+      "offset_deg": 17.35,
+      "tier": "primary",
+      "dev_deg_median": 4.58,
+      "wrist_pos_err_mm_median": 34.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15811,
+     "interpolated": 28,
+     "mean_hand": 237,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9848,
+    "observed_fraction_of_valid": 0.9853,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 14.77,
+     "smplx": 1.31
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 14.2,
+      "p90": 19.4
+     },
+     "registered": {
+      "median": 13.5,
+      "p90": 18.3
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 18.48,
+    "offset_rotvec": [
+     0.3102,
+     0.086,
+     0.0187
+    ],
+    "dev_deg": {
+     "median": 4.49,
+     "p90": 13.72
+    },
+    "samples": 4011,
+    "accepted": 3952,
+    "wrist_pos_err_mm_median": 48.0,
+    "per_camera": {
+     "head": {
+      "samples": 4011,
+      "accepted": 3952,
+      "gate_deg": 30.0,
+      "offset_deg": 18.48,
+      "tier": "primary",
+      "dev_deg_median": 4.49,
+      "wrist_pos_err_mm_median": 48.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15835,
+     "interpolated": 236,
+     "mean_hand": 5,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9992,
+    "observed_fraction_of_valid": 0.9997,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 18.71,
+     "smplx": 2.19
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.6,
+      "p90": 10.9
+     },
+     "registered": {
+      "median": 8.1,
+      "p90": 9.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:05:51.338961+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/LM25/session_024",
   "family": "locomanipulation",
   "primitive": "LM25",
   "source_session": "20261014/LM25/20261014_100105_session10"
  },
+ "task": {
+  "primitive": "LM25",
+  "instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down."
+ },
  "objects": [
   {
    "name": "BigBox",

actions/locomanipulation/LM25/session_024/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:017b3a74b3f61180eb7447e4d4bd259db2d1fff26cf3b219e2f40cb4caad4fac
+size 5343989

actions/locomanipulation/LM25/session_024/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f3d90e0603fe0ff708aedb696d29a4e6031fd57b8c54f095df8f8331ca930425
-size 6182136
+oid sha256:e2edc3d18da921498292538a1b3dfc38723cd7de94aa0602e82c9ed72ca8095f
+size 11552570

actions/locomanipulation/LM25/session_025/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": "LM25",
+ "instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 123.966556,
+   "video": "left_eye",
+   "video_t_start": 0.03898758341959718
+  }
+ ],
+ "episodes": [
+  {
+   "id": "73276951-8077-478e-ac02-7cc1aba32570",
+   "segment": "segment1",
+   "action": "LM25",
+   "quality": "valid",
+   "start_s": 0.912,
+   "end_s": 118.775,
+   "t_start": 0.951,
+   "t_end": 118.814,
+   "instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down."
+  }
+ ]
+}

actions/locomanipulation/LM25/session_025/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8364ad1181cf71e9698e71728e82843f82f2ecd6b14c40fa8a35ff7f035d514b
+size 712773

actions/locomanipulation/LM25/session_025/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": {
@@ -494,12 +494,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 9.22,
+    "offset_rotvec": [
+     0.1223,
+     0.0999,
+     0.0311
+    ],
+    "dev_deg": {
+     "median": 3.48,
+     "p90": 9.8
+    },
+    "samples": 3679,
+    "accepted": 3543,
+    "wrist_pos_err_mm_median": 37.2,
+    "per_camera": {
+     "head": {
+      "samples": 3679,
+      "accepted": 3543,
+      "gate_deg": 30.0,
+      "offset_deg": 9.22,
+      "tier": "primary",
+      "dev_deg_median": 3.48,
+      "wrist_pos_err_mm_median": 37.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14197,
+     "interpolated": 482,
+     "mean_hand": 197,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9862,
+    "observed_fraction_of_valid": 0.9868,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 8.97,
+     "smplx": 1.13
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 15.2,
+      "p90": 25.6
+     },
+     "registered": {
+      "median": 15.6,
+      "p90": 24.6
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 13.39,
+    "offset_rotvec": [
+     0.2289,
+     0.047,
+     -0.0013
+    ],
+    "dev_deg": {
+     "median": 4.64,
+     "p90": 12.53
+    },
+    "samples": 3711,
+    "accepted": 3640,
+    "wrist_pos_err_mm_median": 51.5,
+    "per_camera": {
+     "head": {
+      "samples": 3711,
+      "accepted": 3640,
+      "gate_deg": 30.0,
+      "offset_deg": 13.39,
+      "tier": "primary",
+      "dev_deg_median": 4.64,
+      "wrist_pos_err_mm_median": 51.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14583,
+     "interpolated": 288,
+     "mean_hand": 5,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9991,
+    "observed_fraction_of_valid": 0.9997,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 14.05,
+     "smplx": 1.77
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.1,
+      "p90": 13.8
+     },
+     "registered": {
+      "median": 9.1,
+      "p90": 12.2
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:05:52.880437+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/LM25/session_025",
   "family": "locomanipulation",
   "primitive": "LM25",
   "source_session": "20261014/LM25/20261014_100336_session11"
  },
+ "task": {
+  "primitive": "LM25",
+  "instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down."
+ },
  "objects": [
   {
    "name": "BigBox",

actions/locomanipulation/LM25/session_025/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fb1ff5736146b0603b4a03778a5b07aa40971aa3a8eb2d0391861ebb93d0a59
+size 4945348

actions/locomanipulation/LM25/session_025/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:15734539afb906e82cbc51f5591e65f88f71e0beafc8aa11b2abba53a23aac94
-size 5703445
+oid sha256:daecd6c09590870027db55bbb9b14149ea05697d6cd9c0028ebf295f16289a6f
+size 10674364

actions/locomanipulation/LM25/session_026/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": "LM25",
+ "instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 128.966611,
+   "video": "left_eye",
+   "video_t_start": 0.0392151179838105
+  }
+ ],
+ "episodes": [
+  {
+   "id": "64180fd7-6bb5-47b0-b3e7-6ba87d67d881",
+   "segment": "segment1",
+   "action": "LM25",
+   "quality": "valid",
+   "start_s": 1.343,
+   "end_s": 123.244,
+   "t_start": 1.3822,
+   "t_end": 123.2832,
+   "instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down."
+  }
+ ]
+}

actions/locomanipulation/LM25/session_026/cameras/gsi_online_calibration.json

@@ -0,0 +1,259 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.388
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.181,
+   "gate_fail": [],
+   "held_out_px_after": 0.639,
+   "held_out_px_before": 6.345,
+   "inliers": 1896,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.4157,
+    -0.5369,
+    -0.9662
+   ],
+   "split_deg": 0.035,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.4242,
+   "gate_fail": [],
+   "held_out_px_after": 0.395,
+   "held_out_px_before": 5.733,
+   "inliers": 3588,
+   "position_fitted": true,
+   "position_mm": [
+    7.0,
+    -19.43,
+    4.01
+   ],
+   "position_sigma_mm": 0.124,
+   "position_split_mm": 0.604,
+   "rotvec_deg": [
+    -0.2832,
+    0.8162,
+    -2.265
+   ],
+   "split_deg": 0.0696,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 1.551,
+   "gate_fail": [],
+   "held_out_px_after": 0.548,
+   "held_out_px_before": 5.562,
+   "inliers": 1975,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.4312,
+    -0.3045,
+    -0.5143
+   ],
+   "split_deg": 0.0779,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0461,
+   "gate_fail": [],
+   "held_out_px_after": 0.38,
+   "held_out_px_before": 3.462,
+   "inliers": 3629,
+   "position_fitted": true,
+   "position_mm": [
+    7.44,
+    -22.23,
+    4.04
+   ],
+   "position_sigma_mm": 0.11,
+   "position_split_mm": 0.362,
+   "rotvec_deg": [
+    0.0265,
+    -0.3648,
+    -0.9801
+   ],
+   "split_deg": 0.0407,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.3645,
+   "gate_fail": [],
+   "held_out_px_after": 0.351,
+   "held_out_px_before": 7.913,
+   "inliers": 5085,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3369,
+    -0.2054,
+    -2.3314
+   ],
+   "split_deg": 0.0287,
+   "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": "921e158f13af06658f845f3f8ef42682462af56c69c94eb7d124b198ed4887b8",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "6cf9f7b37edc6d10797e1504a568f3aa849f2d3eb9cb1e8962ceba699be65b6a",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "7fb04ae6b8afb82c8729b7b7f30bd487e4723e605bfc7a5a5ec1f6db3cc09449",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "2d00a5134a2c58c85c8c04220a63e4591f2a599efe81077b1e2f129c9ddc992d",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "2ebe0c45337df37b",
+ "kind": "online_calibration",
+ "output_sha256": "169533d4021e5d5481d163aea1ace68ac013b1cb14ee33a17e1c7128621c5543",
+ "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": 43.408,
+  "left_eye": 40.889,
+  "left_front": 47.308,
+  "right": 41.357,
+  "right_eye": 38.813,
+  "right_front": 46.412
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   11729273181777,
+   11730273192888,
+   11735273181777,
+   11736273192888,
+   11738273237333,
+   11739273159555,
+   11743273192888,
+   11744273159555,
+   11749273248444,
+   11750273181777,
+   11751273148444,
+   11756273159555,
+   11757273159555,
+   11759273159555,
+   11760273159555,
+   11764273159555,
+   11765273159555,
+   11769273192888,
+   11770273204000,
+   11773273159555,
+   11774273159555,
+   11778273204000,
+   11779273170666,
+   11782273159555,
+   11783273181777,
+   11785273181777,
+   11786273192888,
+   11790273237333,
+   11791273181777,
+   11795273181777,
+   11796273192888,
+   11799273181777,
+   11800273181777,
+   11803273181777,
+   11804273192888,
+   11805273148444,
+   11809273192888,
+   11810273159555,
+   11813273159555,
+   11814273181777,
+   11819273159555,
+   11820273192888,
+   11821273181777,
+   11822273181777,
+   11826273159555,
+   11827273181777,
+   11831273159555,
+   11832273181777,
+   11836273192888,
+   11837273192888,
+   11839273315111,
+   11840273159555,
+   11841273159555,
+   11842273192888,
+   11845273304000,
+   11846273159555,
+   11850273237333,
+   11851273192888
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM25/session_026/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:471848604013ed54342f145b5eb8afd305612993dc92fecdd161202d219009cf
+size 741626

actions/locomanipulation/LM25/session_026/meta.json

@@ -360,8 +360,8 @@
   "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": {
@@ -510,12 +510,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 27.63,
+    "offset_rotvec": [
+     0.4223,
+     0.2163,
+     0.0859
+    ],
+    "dev_deg": {
+     "median": 6.88,
+     "p90": 14.05
+    },
+    "samples": 3806,
+    "accepted": 3707,
+    "wrist_pos_err_mm_median": 65.0,
+    "per_camera": {
+     "head": {
+      "samples": 3806,
+      "accepted": 3707,
+      "gate_deg": 30.0,
+      "offset_deg": 27.63,
+      "tier": "primary",
+      "dev_deg_median": 6.88,
+      "wrist_pos_err_mm_median": 65.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14859,
+     "interpolated": 416,
+     "mean_hand": 173,
+     "no_body_fit": 36
+    },
+    "observed_fraction": 0.9865,
+    "observed_fraction_of_valid": 0.9888,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 24.71,
+     "smplx": 1.34
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.6,
+      "p90": 9.2
+     },
+     "registered": {
+      "median": 8.3,
+      "p90": 9.2
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 47.93,
+    "offset_rotvec": [
+     0.8048,
+     -0.2253,
+     0.0368
+    ],
+    "dev_deg": {
+     "median": 4.24,
+     "p90": 10.49
+    },
+    "samples": 3816,
+    "accepted": 3756,
+    "wrist_pos_err_mm_median": 58.7,
+    "per_camera": {
+     "head": {
+      "samples": 3816,
+      "accepted": 3756,
+      "gate_deg": 30.0,
+      "offset_deg": 47.93,
+      "tier": "primary",
+      "dev_deg_median": 4.24,
+      "wrist_pos_err_mm_median": 58.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15027,
+     "interpolated": 100,
+     "mean_hand": 321,
+     "no_body_fit": 36
+    },
+    "observed_fraction": 0.9769,
+    "observed_fraction_of_valid": 0.9792,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 45.65,
+     "smplx": 0.75
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.8,
+      "p90": 17.5
+     },
+     "registered": {
+      "median": 10.9,
+      "p90": 16.2
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:51:51.130804+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/LM25/session_026",
   "family": "locomanipulation",
   "primitive": "LM25",
   "source_session": "20261015/LM25/20261015_035119_session57"
  },
+ "task": {
+  "primitive": "LM25",
+  "instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down."
+ },
  "objects": [
   {
    "name": "BigBox",

actions/locomanipulation/LM25/session_026/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:827e3f8ccf23748bd478b159837ab1bbaef742b759e6a69104f30c1161ac7554
+size 5134981

actions/locomanipulation/LM25/session_026/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2a91c9809762be3088e023baf53a50d322326a6a9ceda699f42fda4ab368779a
-size 5953458
+oid sha256:8c98c229b540b88986e3d7f72214a707857498595c23132b2d6572096321be42
+size 11074647

actions/locomanipulation/LM25/session_027/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": "LM25",
+ "instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 138.966689,
+   "video": "left_eye",
+   "video_t_start": 0.03909065616104446
+  }
+ ],
+ "episodes": [
+  {
+   "id": "b3a15f71-eed1-4b8e-a256-52a939ba05a9",
+   "segment": "segment1",
+   "action": "LM25",
+   "quality": "valid",
+   "start_s": 3,
+   "end_s": 133.166,
+   "t_start": 3.0391,
+   "t_end": 133.2051,
+   "instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down."
+  }
+ ]
+}

actions/locomanipulation/LM25/session_027/cameras/gsi_online_calibration.json

@@ -0,0 +1,258 @@
+{
+ "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": 1.1425,
+   "gate_fail": [],
+   "held_out_px_after": 0.635,
+   "held_out_px_before": 5.624,
+   "inliers": 1806,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.4189,
+    -0.5203,
+    -0.9269
+   ],
+   "split_deg": 0.0032,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.3833,
+   "gate_fail": [],
+   "held_out_px_after": 0.392,
+   "held_out_px_before": 5.78,
+   "inliers": 3874,
+   "position_fitted": true,
+   "position_mm": [
+    7.51,
+    -19.34,
+    4.15
+   ],
+   "position_sigma_mm": 0.126,
+   "position_split_mm": 0.256,
+   "rotvec_deg": [
+    -0.265,
+    0.7869,
+    -2.234
+   ],
+   "split_deg": 0.0173,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.5208,
+   "gate_fail": [],
+   "held_out_px_after": 0.527,
+   "held_out_px_before": 5.054,
+   "inliers": 2198,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.3921,
+    -0.2653,
+    -0.5518
+   ],
+   "split_deg": 0.0143,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0201,
+   "gate_fail": [],
+   "held_out_px_after": 0.398,
+   "held_out_px_before": 3.322,
+   "inliers": 3595,
+   "position_fitted": true,
+   "position_mm": [
+    7.72,
+    -22.28,
+    3.76
+   ],
+   "position_sigma_mm": 0.118,
+   "position_split_mm": 0.054,
+   "rotvec_deg": [
+    0.0136,
+    -0.3348,
+    -0.9635
+   ],
+   "split_deg": 0.0226,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.3519,
+   "gate_fail": [],
+   "held_out_px_after": 0.376,
+   "held_out_px_before": 7.71,
+   "inliers": 5339,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3445,
+    -0.1605,
+    -2.321
+   ],
+   "split_deg": 0.0201,
+   "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": "f43fc1584da2f7c387dd46ba20a3ee5ac3d0a41f9e073effc7d246741ca6c4ff",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "b292687491a27892e4f16be45f28c99843b81228220ca20f043c8df38cdac337",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "efd53fe4e6de2975a6760522fa2490f95cbd33cb5cecb3745c84fcf1fb65c4c3",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "74ecee5b6dcecf9ec0a8b2a85e10341095991e1a99548f0f062943d4f4575db4",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "e51d297bcaa82d01",
+ "kind": "online_calibration",
+ "output_sha256": "d521f974150209cdf0fe6b8b01ff49931cf5267682efc95ef697adfe9a78dda5",
+ "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": 39.344,
+  "left_eye": 30.757,
+  "left_front": 40.873,
+  "right": 38.544,
+  "right_eye": 31.188,
+  "right_front": 39.217
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   11880960423666,
+   11881960412555,
+   11885960612555,
+   11886960445888,
+   11893960423666,
+   11894960423666,
+   11895960423666,
+   11896960457000,
+   11899960445888,
+   11900960445888,
+   11903960423666,
+   11904960445888,
+   11908960512555,
+   11909960423666,
+   11913960423666,
+   11914960412555,
+   11917960423666,
+   11918960457000,
+   11922960445888,
+   11923960512555,
+   11927960445888,
+   11928960434777,
+   11931960445888,
+   11932960445888,
+   11936960445888,
+   11937960468111,
+   11941960434777,
+   11942960501444,
+   11947960568111,
+   11948960412555,
+   11952960457000,
+   11953960457000,
+   11956960423666,
+   11957960445888,
+   11961960445888,
+   11962960445888,
+   11965960412555,
+   11966960423666,
+   11970960445888,
+   11971960445888,
+   11974960423666,
+   11975960423666,
+   11976960412555,
+   11983960445888,
+   11984960601444,
+   11988960434777,
+   11989960445888,
+   11992960445888,
+   11993960423666,
+   11997960423666,
+   11998960434777,
+   12001960412555,
+   12002960445888,
+   12005960512555,
+   12006960501444,
+   12007960468111,
+   12008960412555,
+   12012960445888,
+   12013960434777
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM25/session_027/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26976539edb3438899414c365c892b09849b71398cad88014ab1fa1fc492d8bf
+size 799005

actions/locomanipulation/LM25/session_027/meta.json

@@ -360,8 +360,8 @@
   "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": {
@@ -510,12 +510,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 37.83,
+    "offset_rotvec": [
+     0.6503,
+     0.1135,
+     0.0131
+    ],
+    "dev_deg": {
+     "median": 8.67,
+     "p90": 19.21
+    },
+    "samples": 4043,
+    "accepted": 3993,
+    "wrist_pos_err_mm_median": 47.2,
+    "per_camera": {
+     "head": {
+      "samples": 4043,
+      "accepted": 3993,
+      "gate_deg": 30.0,
+      "offset_deg": 37.83,
+      "tier": "primary",
+      "dev_deg_median": 8.67,
+      "wrist_pos_err_mm_median": 47.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15980,
+     "interpolated": 160,
+     "mean_hand": 199,
+     "no_body_fit": 345
+    },
+    "observed_fraction": 0.9674,
+    "observed_fraction_of_valid": 0.9878,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 36.53,
+     "smplx": 1.1
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.7,
+      "p90": 11.3
+     },
+     "registered": {
+      "median": 8.0,
+      "p90": 10.3
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 45.06,
+    "offset_rotvec": [
+     0.7513,
+     -0.2277,
+     0.0476
+    ],
+    "dev_deg": {
+     "median": 3.37,
+     "p90": 9.51
+    },
+    "samples": 4044,
+    "accepted": 3996,
+    "wrist_pos_err_mm_median": 53.8,
+    "per_camera": {
+     "head": {
+      "samples": 4044,
+      "accepted": 3996,
+      "gate_deg": 30.0,
+      "offset_deg": 45.06,
+      "tier": "primary",
+      "dev_deg_median": 3.37,
+      "wrist_pos_err_mm_median": 53.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15984,
+     "interpolated": 20,
+     "mean_hand": 335,
+     "no_body_fit": 345
+    },
+    "observed_fraction": 0.9592,
+    "observed_fraction_of_valid": 0.9795,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 44.19,
+     "smplx": 0.67
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 11.0,
+      "p90": 16.8
+     },
+     "registered": {
+      "median": 10.6,
+      "p90": 15.5
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:51:50.981200+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/LM25/session_027",
   "family": "locomanipulation",
   "primitive": "LM25",
   "source_session": "20261015/LM25/20261015_035350_session58"
  },
+ "task": {
+  "primitive": "LM25",
+  "instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down."
+ },
  "objects": [
   {
    "name": "BigBox",

actions/locomanipulation/LM25/session_027/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d60018e180ce30e0c4c22599c8e5f0cf20efb2192630b0c6eba755bc9e5a18c6
+size 5560721