Release update 2026-11-05: new sessions, instructions, annotations (part 299)

actions/locomanipulation/LM32/session_028/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:5b337f1253de2fa964d733669bbf61baa6b624ad6ec59c896683b2bf93bc1a3f
-size 6255431
+oid sha256:d38c51c465adb230ea766a30c39214f707fac2986e2ceddaf523cf1493c8992d
+size 11641913

actions/locomanipulation/LM32/session_029/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": 121.966678,
+   "video": "left_eye",
+   "video_t_start": 0.039434365111107386
+  }
+ ],
+ "episodes": [
+  {
+   "id": "5cdd69c8-8571-49db-bae7-37e0aa34c1fc",
+   "segment": "segment1",
+   "action": "LM32",
+   "quality": "valid",
+   "start_s": 1.178,
+   "end_s": 116.497,
+   "t_start": 1.2174,
+   "t_end": 116.5364,
+   "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_029/cameras/gsi_online_calibration.json

@@ -0,0 +1,263 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 35,
+    "median_px": 176.46,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.35
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 2.5858,
+   "gate_fail": [],
+   "held_out_px_after": 0.439,
+   "held_out_px_before": 8.165,
+   "inliers": 2444,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.2847,
+    -1.1884,
+    0.2335
+   ],
+   "split_deg": 0.0493,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.6758,
+   "gate_fail": [],
+   "held_out_px_after": 0.378,
+   "held_out_px_before": 3.937,
+   "inliers": 2761,
+   "position_fitted": true,
+   "position_mm": [
+    -2.46,
+    -16.08,
+    3.87
+   ],
+   "position_sigma_mm": 0.196,
+   "position_split_mm": 1.493,
+   "rotvec_deg": [
+    -0.0105,
+    -0.072,
+    0.6718
+   ],
+   "split_deg": 0.0236,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.9201,
+   "gate_fail": [],
+   "held_out_px_after": 0.573,
+   "held_out_px_before": 13.944,
+   "inliers": 622,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.2218,
+    -1.1028,
+    3.0356
+   ],
+   "split_deg": 0.1441,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.967,
+   "gate_fail": [],
+   "held_out_px_after": 0.331,
+   "held_out_px_before": 4.999,
+   "inliers": 3566,
+   "position_fitted": true,
+   "position_mm": [
+    -0.27,
+    -13.78,
+    4.34
+   ],
+   "position_sigma_mm": 0.236,
+   "position_split_mm": 0.901,
+   "rotvec_deg": [
+    0.3696,
+    -0.8635,
+    1.7283
+   ],
+   "split_deg": 0.0347,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.8371,
+   "gate_fail": [],
+   "held_out_px_after": 0.337,
+   "held_out_px_before": 5.028,
+   "inliers": 4793,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.7249,
+    -0.2145,
+    -0.3594
+   ],
+   "split_deg": 0.0147,
+   "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": "53a7bbad44e0c24ca1a7772e6a3c84ceb9bf352b779690b44add85e1d41ded32",
+   "source_sha256": "2bf43346f9825da1c051096d46ceb924252959c0c3fed4ac9c166c6096121ae0"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "8ec5c07d78e5b9ac374b48c1bd6c5a48f86ef5e375a7a3828b1bb80bca07d0ca",
+   "source_sha256": "b80f390816142bc598f6a58e17810083d07270f17802c79b0d33dade12e1a7ed"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "2b72dfbe39f66a0f6c0757f2ad3c5da0773c15a72f365af7cc60cc475d7fbefa",
+   "source_sha256": "55ee2a9af25410709c73762b726e1a41e5450b277090a5256571601dd5fd719b"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "8291d0e9be93e9e89ba10f70e40e851078f74e099c0c10ea269950294710ac4d",
+   "source_sha256": "b2fcef709086e19cb082ae12586aebd1a6fa9a92db90015c1c5a641f4588dfc7"
+  }
+ },
+ "input_fingerprint": "b872a6ca882012d4",
+ "kind": "online_calibration",
+ "output_sha256": "c2cbe942adfbf3f52a1314357be91a306171d8f66cddcf70eb9a9840b191cc85",
+ "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": 40.205,
+  "left_eye": 35.065,
+  "left_front": 41.879,
+  "right": 42.168,
+  "right_eye": 35.34,
+  "right_front": 41.321
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   2608947086000,
+   2609947086000,
+   2614947086000,
+   2615947108222,
+   2617947108222,
+   2618947108222,
+   2623947119333,
+   2624947097111,
+   2627947097111,
+   2628947097111,
+   2629947097111,
+   2632947130444,
+   2633947108222,
+   2636947241555,
+   2637947097111,
+   2640947097111,
+   2641947097111,
+   2647947097111,
+   2648947119333,
+   2650947108222,
+   2651947130444,
+   2655947097111,
+   2656947097111,
+   2657947108222,
+   2658947097111,
+   2660947108222,
+   2661947097111,
+   2667947130444,
+   2668947241555,
+   2669947097111,
+   2672947097111,
+   2673947108222,
+   2677947130444,
+   2678947108222,
+   2680947097111,
+   2681947097111,
+   2687947097111,
+   2688947130444,
+   2689947097111,
+   2693947097111,
+   2694947097111,
+   2697947097111,
+   2698947097111,
+   2700947108222,
+   2701947130444,
+   2706947097111,
+   2707947108222,
+   2711947130444,
+   2712947130444,
+   2715947119333,
+   2716947097111,
+   2717947108222,
+   2723947097111,
+   2724947119333,
+   2725947108222
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM32/session_029/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1a2b0de59289d5caaf512d904af89dcb0a25e34f2dc185d0a4f0017887c96ae
+size 699210

actions/locomanipulation/LM32/session_029/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": {
@@ -506,10 +506,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 38.26,
+    "offset_rotvec": [
+     0.6438,
+     -0.0524,
+     0.1696
+    ],
+    "dev_deg": {
+     "median": 23.48,
+     "p90": 38.45
+    },
+    "samples": 2728,
+    "accepted": 1966,
+    "wrist_pos_err_mm_median": 69.5,
+    "per_camera": {
+     "head": {
+      "samples": 2728,
+      "accepted": 1966,
+      "gate_deg": 30.0,
+      "offset_deg": 38.26,
+      "tier": "primary",
+      "dev_deg_median": 23.48,
+      "wrist_pos_err_mm_median": 69.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 8038,
+     "interpolated": 3974,
+     "mean_hand": 2629,
+     "no_body_fit": 3
+    },
+    "observed_fraction": 0.8203,
+    "observed_fraction_of_valid": 0.8204,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 30.57,
+     "smplx": 2.07
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 18.5,
+      "p90": 31.7
+     },
+     "registered": {
+      "median": 17.9,
+      "p90": 30.6
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 21.53,
+    "offset_rotvec": [
+     0.2177,
+     -0.2079,
+     0.2249
+    ],
+    "dev_deg": {
+     "median": 11.37,
+     "p90": 21.8
+    },
+    "samples": 3601,
+    "accepted": 3473,
+    "wrist_pos_err_mm_median": 30.8,
+    "per_camera": {
+     "head": {
+      "samples": 3601,
+      "accepted": 3473,
+      "gate_deg": 30.0,
+      "offset_deg": 21.53,
+      "tier": "primary",
+      "dev_deg_median": 11.37,
+      "wrist_pos_err_mm_median": 30.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13940,
+     "interpolated": 540,
+     "mean_hand": 161,
+     "no_body_fit": 3
+    },
+    "observed_fraction": 0.9888,
+    "observed_fraction_of_valid": 0.989,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 22.73,
+     "smplx": 1.67
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 11.6,
+      "p90": 17.6
+     },
+     "registered": {
+      "median": 11.4,
+      "p90": 16.8
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T20:11:35.657068+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_029",
   "family": "locomanipulation",
   "primitive": "LM32",
   "source_session": "20261021/LM32/20261021_011123_session7"
+ },
+ "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_029/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:537cc0f6e766f3a5c431de4236d6d5e96c98a7fba290b98072ce16724965ee48
+size 4286683

actions/locomanipulation/LM32/session_029/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:50450085460d2dc35532a1f1dd4308a7a917b84bf3c3ff3d215aecc828164eec
-size 5611810
+oid sha256:b946f5fd6fff85d14a29c7d84eedb5566ce149d683da793c656935cbe3a8d557
+size 10178039

actions/locomanipulation/LM32/session_030/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": 129.900022,
+   "video": "left_eye",
+   "video_t_start": 0.039933588263267636
+  }
+ ],
+ "episodes": [
+  {
+   "id": "96fbc6bd-eb76-4e16-bc52-08d13406fd41",
+   "segment": "segment1",
+   "action": "LM32",
+   "quality": "valid",
+   "start_s": 1.167,
+   "end_s": 123.145,
+   "t_start": 1.2069,
+   "t_end": 123.1849,
+   "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_030/cameras/gsi_online_calibration.json

@@ -0,0 +1,262 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 45,
+    "median_px": 73.28,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.348
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 2.5575,
+   "gate_fail": [],
+   "held_out_px_after": 0.461,
+   "held_out_px_before": 7.945,
+   "inliers": 2496,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.2303,
+    -1.2246,
+    0.2585
+   ],
+   "split_deg": 0.047,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.6655,
+   "gate_fail": [],
+   "held_out_px_after": 0.355,
+   "held_out_px_before": 3.932,
+   "inliers": 2817,
+   "position_fitted": true,
+   "position_mm": [
+    -2.85,
+    -18.6,
+    3.23
+   ],
+   "position_sigma_mm": 0.18,
+   "position_split_mm": 1.308,
+   "rotvec_deg": [
+    -0.0018,
+    -0.0793,
+    0.6608
+   ],
+   "split_deg": 0.0163,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.882,
+   "gate_fail": [],
+   "held_out_px_after": 0.517,
+   "held_out_px_before": 14.128,
+   "inliers": 816,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.1909,
+    -1.0544,
+    3.0262
+   ],
+   "split_deg": 0.0171,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.0092,
+   "gate_fail": [],
+   "held_out_px_after": 0.336,
+   "held_out_px_before": 5.196,
+   "inliers": 3736,
+   "position_fitted": true,
+   "position_mm": [
+    1.88,
+    -11.54,
+    5.42
+   ],
+   "position_sigma_mm": 0.211,
+   "position_split_mm": 1.393,
+   "rotvec_deg": [
+    0.3856,
+    -0.8874,
+    1.7608
+   ],
+   "split_deg": 0.0387,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.8348,
+   "gate_fail": [],
+   "held_out_px_after": 0.328,
+   "held_out_px_before": 5.073,
+   "inliers": 4709,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.7273,
+    -0.2147,
+    -0.349
+   ],
+   "split_deg": 0.0149,
+   "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": "7d2460b4569a8324e492d80693ddce5c426ef9c2714c53170184737aee11b910",
+   "source_sha256": "2bf43346f9825da1c051096d46ceb924252959c0c3fed4ac9c166c6096121ae0"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "74f466f9c375dac34fceacf46f0ebd92a1020dff6e00bb6f4b9abd50631b963f",
+   "source_sha256": "b80f390816142bc598f6a58e17810083d07270f17802c79b0d33dade12e1a7ed"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "04995f56e8f82852c9fcd0c9eadc64de3ac777b4ffd2c9a10ead15a93a948afb",
+   "source_sha256": "55ee2a9af25410709c73762b726e1a41e5450b277090a5256571601dd5fd719b"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "9382b8f5bb3aaf0cf27d9293275ca2c8182271e17104f86614b221b4000c4445",
+   "source_sha256": "b2fcef709086e19cb082ae12586aebd1a6fa9a92db90015c1c5a641f4588dfc7"
+  }
+ },
+ "input_fingerprint": "d066405883be391d",
+ "kind": "online_calibration",
+ "output_sha256": "6fb58e6a555656290ae0f48a069a6cd6f645a840fdd9c28fd31ab0c5b5f59434",
+ "overlap": {
+  "left-right": 0.489,
+  "left_eye-left": 0.684,
+  "left_eye-right": 0.685,
+  "left_eye-right_eye": 1.0,
+  "left_front-left": 0.466,
+  "left_front-left_eye": 0.717,
+  "left_front-right": 0.447,
+  "left_front-right_eye": 0.72,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.672,
+  "right_eye-right": 0.676,
+  "right_front-left": 0.469,
+  "right_front-left_eye": 0.746,
+  "right_front-right": 0.472,
+  "right_front-right_eye": 0.74
+ },
+ "picture_change": {
+  "left": 38.382,
+  "left_eye": 39.07,
+  "left_front": 44.562,
+  "right": 42.554,
+  "right_eye": 40.218,
+  "right_front": 45.737
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   3254239791888,
+   3255239803000,
+   3262239803000,
+   3263239803000,
+   3266239803000,
+   3267239791888,
+   3268239791888,
+   3269239825222,
+   3273239803000,
+   3274239791888,
+   3277239791888,
+   3278239847444,
+   3283239803000,
+   3284239869666,
+   3285239791888,
+   3288239791888,
+   3289239825222,
+   3294239803000,
+   3295239791888,
+   3299239958555,
+   3300239791888,
+   3301239869666,
+   3302239825222,
+   3306239791888,
+   3307239791888,
+   3310239791888,
+   3311239869666,
+   3317239791888,
+   3318239869666,
+   3319239825222,
+   3325239869666,
+   3326239825222,
+   3327239914111,
+   3334239791888,
+   3335239791888,
+   3336239803000,
+   3342239825222,
+   3343239814111,
+   3344239791888,
+   3350239825222,
+   3351239803000,
+   3354239869666,
+   3355239803000,
+   3358239869666,
+   3359239836333,
+   3364239791888,
+   3365239869666,
+   3366239791888,
+   3367239791888,
+   3372239836333,
+   3373239791888,
+   3376239858555,
+   3377239836333,
+   3378239791888
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM32/session_030/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5908858968274cb4fbaaef054eb21852586608b21226290cf8629988d8d7932
+size 743496

actions/locomanipulation/LM32/session_030/meta.json

@@ -372,8 +372,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -518,18 +518,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 30.53,
+    "offset_rotvec": [
+     0.4852,
+     0.0434,
+     0.216
+    ],
+    "dev_deg": {
+     "median": 18.44,
+     "p90": 37.56
+    },
+    "samples": 3556,
+    "accepted": 2861,
+    "wrist_pos_err_mm_median": 62.9,
+    "per_camera": {
+     "head": {
+      "samples": 3556,
+      "accepted": 2861,
+      "gate_deg": 30.0,
+      "offset_deg": 30.53,
+      "tier": "primary",
+      "dev_deg_median": 18.44,
+      "wrist_pos_err_mm_median": 62.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11594,
+     "interpolated": 3022,
+     "mean_hand": 973,
+     "no_body_fit": 7
+    },
+    "observed_fraction": 0.9372,
+    "observed_fraction_of_valid": 0.9376,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 22.81,
+     "smplx": 1.71
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 13.5,
+      "p90": 23.1
+     },
+     "registered": {
+      "median": 13.8,
+      "p90": 21.8
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 28.31,
+    "offset_rotvec": [
+     0.2823,
+     -0.2782,
+     0.2952
+    ],
+    "dev_deg": {
+     "median": 11.44,
+     "p90": 19.81
+    },
+    "samples": 3856,
+    "accepted": 3745,
+    "wrist_pos_err_mm_median": 37.7,
+    "per_camera": {
+     "head": {
+      "samples": 3856,
+      "accepted": 3745,
+      "gate_deg": 30.0,
+      "offset_deg": 28.31,
+      "tier": "primary",
+      "dev_deg_median": 11.44,
+      "wrist_pos_err_mm_median": 37.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14982,
+     "interpolated": 118,
+     "mean_hand": 489,
+     "no_body_fit": 7
+    },
+    "observed_fraction": 0.9682,
+    "observed_fraction_of_valid": 0.9686,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 26.7,
+     "smplx": 1.25
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 11.8,
+      "p90": 17.5
+     },
+     "registered": {
+      "median": 11.5,
+      "p90": 16.8
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T20:27:40.019711+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_030",
   "family": "locomanipulation",
   "primitive": "LM32",
   "source_session": "20261021/LM32/20261021_012208_session11"
  },
- "objects": [
-  {
-   "name": "LittleBox5",
-   "object_type": "LittleBox",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
-  }
- ]
+ "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_030/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57d0469570f00241fe3bd21ba1d1f4f11e7a6056335c91f5fe23c001a06b1ec5
+size 5004702