Release update 2026-11-05: new sessions, instructions, annotations (part 160)

actions/locomanipulation/LM22/session_021/annotations.json

@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "LM22",
+ "instruction": "Carry the box along the marked route, turning 90 degrees at the corner the operator calls, and set it down at the end. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 103.966656,
+   "video": "left_eye",
+   "video_t_start": 0.03892569833889348
+  }
+ ],
+ "episodes": [
+  {
+   "id": "1686c04c-4e0f-4261-9b66-4eddeaee56fb",
+   "segment": "segment1",
+   "action": "LM22",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 101.834,
+   "t_start": 0.0389,
+   "t_end": 101.8729,
+   "instruction": "Carry the box along the marked route, turning 90 degrees at the corner the operator calls, and set it down at the end. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}

actions/locomanipulation/LM22/session_021/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4051baca55602c38ea05c739766349d3e0cb2a8e44b8797c539ae5ffd78f412e
+size 601370

actions/locomanipulation/LM22/session_021/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": {
@@ -524,10 +524,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.1970789896839158
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 26.1,
+    "offset_rotvec": [
+     0.1993,
+     0.1156,
+     -0.3931
+    ],
+    "dev_deg": {
+     "median": 9.46,
+     "p90": 27.55
+    },
+    "samples": 3011,
+    "accepted": 2774,
+    "wrist_pos_err_mm_median": 47.8,
+    "per_camera": {
+     "head": {
+      "samples": 3011,
+      "accepted": 2774,
+      "gate_deg": 30.0,
+      "offset_deg": 26.1,
+      "tier": "primary",
+      "dev_deg_median": 9.46,
+      "wrist_pos_err_mm_median": 47.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11156,
+     "interpolated": 1096,
+     "mean_hand": 229,
+     "no_body_fit": 3
+    },
+    "observed_fraction": 0.9814,
+    "observed_fraction_of_valid": 0.9817,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 21.96,
+     "smplx": 1.66
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 12.0,
+      "p90": 17.5
+     },
+     "registered": {
+      "median": 12.1,
+      "p90": 17.4
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 25.33,
+    "offset_rotvec": [
+     -0.1442,
+     -0.2438,
+     0.3396
+    ],
+    "dev_deg": {
+     "median": 9.79,
+     "p90": 20.16
+    },
+    "samples": 2987,
+    "accepted": 2854,
+    "wrist_pos_err_mm_median": 79.8,
+    "per_camera": {
+     "head": {
+      "samples": 2987,
+      "accepted": 2854,
+      "gate_deg": 30.0,
+      "offset_deg": 25.33,
+      "tier": "primary",
+      "dev_deg_median": 9.79,
+      "wrist_pos_err_mm_median": 79.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11468,
+     "interpolated": 872,
+     "mean_hand": 141,
+     "no_body_fit": 3
+    },
+    "observed_fraction": 0.9885,
+    "observed_fraction_of_valid": 0.9887,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 15.31,
+     "smplx": 1.71
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.3,
+      "p90": 10.6
+     },
+     "registered": {
+      "median": 8.3,
+      "p90": 9.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:44:35.282779+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/LM22/session_021",
   "family": "locomanipulation",
   "primitive": "LM22",
   "source_session": "20260922/LM22/20260922_075301_session108"
+ },
+ "task": {
+  "primitive": "LM22",
+  "instruction": "Carry the box along the marked route, turning 90 degrees at the corner the operator calls, and set it down at the end. Keep going until the operator says stop; one object at a time, and do not rush between trips."
  }
 }

actions/locomanipulation/LM22/session_021/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dadb4bb0543619e5bb9a7797634c6eb29902b9a7b66a706cbbace6d95751f6f
+size 4024754

actions/locomanipulation/LM22/session_021/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:78147d46d2ca39be491983c354eff3f722166fe68afbbea74c805ec499d6ccf8
-size 4806079
+oid sha256:b0920e77a9a4e3a946d660edf54993328358f1b59a7d4997a9645f9b75d82b41
+size 8950729

actions/locomanipulation/LM22/session_022/annotations.json

@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "LM22",
+ "instruction": "Carry the box along the marked route, turning 90 degrees at the corner the operator calls, and set it down at the end. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 98.9667,
+   "video": "left_eye",
+   "video_t_start": 0.03888207683432632
+  }
+ ],
+ "episodes": [
+  {
+   "id": "ef60ebda-165e-4202-a205-d186fd48b6e8",
+   "segment": "segment1",
+   "action": "LM22",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 93.665,
+   "t_start": 0.0389,
+   "t_end": 93.7039,
+   "instruction": "Carry the box along the marked route, turning 90 degrees at the corner the operator calls, and set it down at the end. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}

actions/locomanipulation/LM22/session_022/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b75c322738c15691ea5769d57dfe49334a042c5b476d08774b467129c2c45ece
+size 573015

actions/locomanipulation/LM22/session_022/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": {
@@ -523,10 +523,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.1637679536029384
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 26.94,
+    "offset_rotvec": [
+     0.1887,
+     0.133,
+     -0.4096
+    ],
+    "dev_deg": {
+     "median": 10.95,
+     "p90": 25.65
+    },
+    "samples": 2878,
+    "accepted": 2676,
+    "wrist_pos_err_mm_median": 44.8,
+    "per_camera": {
+     "head": {
+      "samples": 2878,
+      "accepted": 2676,
+      "gate_deg": 30.0,
+      "offset_deg": 26.94,
+      "tier": "primary",
+      "dev_deg_median": 10.95,
+      "wrist_pos_err_mm_median": 44.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10756,
+     "interpolated": 688,
+     "mean_hand": 440,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.963,
+    "observed_fraction_of_valid": 0.963,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 22.46,
+     "smplx": 1.18
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.8,
+      "p90": 17.0
+     },
+     "registered": {
+      "median": 9.4,
+      "p90": 16.9
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 24.12,
+    "offset_rotvec": [
+     -0.146,
+     -0.2673,
+     0.2905
+    ],
+    "dev_deg": {
+     "median": 10.49,
+     "p90": 22.0
+    },
+    "samples": 2865,
+    "accepted": 2706,
+    "wrist_pos_err_mm_median": 67.0,
+    "per_camera": {
+     "head": {
+      "samples": 2865,
+      "accepted": 2706,
+      "gate_deg": 30.0,
+      "offset_deg": 24.12,
+      "tier": "primary",
+      "dev_deg_median": 10.49,
+      "wrist_pos_err_mm_median": 67.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10868,
+     "interpolated": 596,
+     "mean_hand": 420,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9647,
+    "observed_fraction_of_valid": 0.9647,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 17.28,
+     "smplx": 2.22
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.0,
+      "p90": 11.6
+     },
+     "registered": {
+      "median": 7.1,
+      "p90": 11.0
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:44:31.030806+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/LM22/session_022",
   "family": "locomanipulation",
   "primitive": "LM22",
   "source_session": "20260922/LM22/20260922_075459_session109"
+ },
+ "task": {
+  "primitive": "LM22",
+  "instruction": "Carry the box along the marked route, turning 90 degrees at the corner the operator calls, and set it down at the end. Keep going until the operator says stop; one object at a time, and do not rush between trips."
  }
 }

actions/locomanipulation/LM22/session_022/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a6d56a795faa9b6ed9628d4a76de095eb3eee30d2ce9adb290122419640734f
+size 3850017

actions/locomanipulation/LM22/session_022/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:718fa852658e9675194b4febd0345c75d9e828a51bad21756ce34a690f524ebc
-size 4575013
+oid sha256:7e1522cd7705fe3019e32e6cf97a05e6e2fe8b46d6aad4206369c884f1c7c5a2
+size 8458387

actions/locomanipulation/LM22/session_023/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": "LM22",
+ "instruction": "Carry the box along the marked route, turning 90 degrees at the corner the operator calls, and set it down at the end. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 98.966667,
+   "video": "left_eye",
+   "video_t_start": 0.03878455093212896
+  }
+ ],
+ "episodes": [
+  {
+   "id": "c6fbd8ea-dff3-4211-923a-c7cc3f4a1f12",
+   "segment": "segment1",
+   "action": "LM22",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 95.237,
+   "t_start": 0.0388,
+   "t_end": 95.2758,
+   "instruction": "Carry the box along the marked route, turning 90 degrees at the corner the operator calls, and set it down at the end. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}

actions/locomanipulation/LM22/session_023/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df77c6c6fff32aa8937275dc4212b6fc3d7cda28a433defebdc7abbe7feb7446
+size 572226

actions/locomanipulation/LM22/session_023/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": {
@@ -524,10 +524,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.2296428008849225
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 27.15,
+    "offset_rotvec": [
+     0.1844,
+     0.1204,
+     -0.4196
+    ],
+    "dev_deg": {
+     "median": 9.39,
+     "p90": 33.97
+    },
+    "samples": 2792,
+    "accepted": 2469,
+    "wrist_pos_err_mm_median": 48.5,
+    "per_camera": {
+     "head": {
+      "samples": 2792,
+      "accepted": 2469,
+      "gate_deg": 30.0,
+      "offset_deg": 27.15,
+      "tier": "primary",
+      "dev_deg_median": 9.39,
+      "wrist_pos_err_mm_median": 48.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9906,
+     "interpolated": 910,
+     "mean_hand": 1068,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9101,
+    "observed_fraction_of_valid": 0.9101,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 21.61,
+     "smplx": 1.38
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 11.3,
+      "p90": 17.7
+     },
+     "registered": {
+      "median": 11.1,
+      "p90": 17.5
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 25.98,
+    "offset_rotvec": [
+     -0.1511,
+     -0.2259,
+     0.363
+    ],
+    "dev_deg": {
+     "median": 9.59,
+     "p90": 26.79
+    },
+    "samples": 2800,
+    "accepted": 2574,
+    "wrist_pos_err_mm_median": 66.9,
+    "per_camera": {
+     "head": {
+      "samples": 2800,
+      "accepted": 2574,
+      "gate_deg": 30.0,
+      "offset_deg": 25.98,
+      "tier": "primary",
+      "dev_deg_median": 9.59,
+      "wrist_pos_err_mm_median": 66.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10382,
+     "interpolated": 1222,
+     "mean_hand": 280,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9764,
+    "observed_fraction_of_valid": 0.9764,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 14.84,
+     "smplx": 2.09
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 12.1,
+      "p90": 13.1
+     },
+     "registered": {
+      "median": 11.3,
+      "p90": 12.5
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:44:30.133404+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/LM22/session_023",
   "family": "locomanipulation",
   "primitive": "LM22",
   "source_session": "20260922/LM22/20260922_075651_session110"
+ },
+ "task": {
+  "primitive": "LM22",
+  "instruction": "Carry the box along the marked route, turning 90 degrees at the corner the operator calls, and set it down at the end. Keep going until the operator says stop; one object at a time, and do not rush between trips."
  }
 }

actions/locomanipulation/LM22/session_023/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acd0dda54069be65b8c14faf3aff87bc4fbe462e4041b6727601df260e88f33c
+size 3775828

actions/locomanipulation/LM22/session_023/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:64d490a0547469d63982b521ecfc51ce3baa24bcf74cb65577bc279feb0a078c
-size 4588066
+oid sha256:3a05dceca22b2bf4eb2755d81a4fd3c3e376b0d3159649eda6f7197733abec6b
+size 8389401

actions/locomanipulation/LM22/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": "LM22",
+ "instruction": "Carry the box along the marked route, turning 90 degrees at the corner the operator calls, and set it down at the end. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 98.966667,
+   "video": "left_eye",
+   "video_t_start": 0.039178407104409896
+  }
+ ],
+ "episodes": [
+  {
+   "id": "7855d53f-1039-4649-ba07-4b8eaecface1",
+   "segment": "segment1",
+   "action": "LM22",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 96.291,
+   "t_start": 0.0392,
+   "t_end": 96.3302,
+   "instruction": "Carry the box along the marked route, turning 90 degrees at the corner the operator calls, and set it down at the end. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}

actions/locomanipulation/LM22/session_024/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0d1eb0fcd0fd6c1685176d87f61ca1fa30388d3ba986311d01bf9f3bf9c0300
+size 572684

actions/locomanipulation/LM22/session_024/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": {
@@ -523,10 +523,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.1416159514921922
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 27.75,
+    "offset_rotvec": [
+     0.1683,
+     0.1437,
+     -0.4308
+    ],
+    "dev_deg": {
+     "median": 10.67,
+     "p90": 29.2
+    },
+    "samples": 2831,
+    "accepted": 2559,
+    "wrist_pos_err_mm_median": 41.9,
+    "per_camera": {
+     "head": {
+      "samples": 2831,
+      "accepted": 2559,
+      "gate_deg": 30.0,
+      "offset_deg": 27.75,
+      "tier": "primary",
+      "dev_deg_median": 10.67,
+      "wrist_pos_err_mm_median": 41.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10284,
+     "interpolated": 1124,
+     "mean_hand": 476,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9599,
+    "observed_fraction_of_valid": 0.9599,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 21.74,
+     "smplx": 1.2
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 14.3,
+      "p90": 21.5
+     },
+     "registered": {
+      "median": 14.0,
+      "p90": 21.5
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 26.12,
+    "offset_rotvec": [
+     -0.1265,
+     -0.2754,
+     0.3406
+    ],
+    "dev_deg": {
+     "median": 11.62,
+     "p90": 23.96
+    },
+    "samples": 2804,
+    "accepted": 2675,
+    "wrist_pos_err_mm_median": 57.0,
+    "per_camera": {
+     "head": {
+      "samples": 2804,
+      "accepted": 2675,
+      "gate_deg": 30.0,
+      "offset_deg": 26.12,
+      "tier": "primary",
+      "dev_deg_median": 11.62,
+      "wrist_pos_err_mm_median": 57.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10770,
+     "interpolated": 1102,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.999,
+    "observed_fraction_of_valid": 0.999,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 17.68,
+     "smplx": 2.7
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.0,
+      "p90": 10.1
+     },
+     "registered": {
+      "median": 7.9,
+      "p90": 9.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:44:30.131148+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/LM22/session_024",
   "family": "locomanipulation",
   "primitive": "LM22",
   "source_session": "20260922/LM22/20260922_075840_session111"
+ },
+ "task": {
+  "primitive": "LM22",
+  "instruction": "Carry the box along the marked route, turning 90 degrees at the corner the operator calls, and set it down at the end. Keep going until the operator says stop; one object at a time, and do not rush between trips."
  }
 }

actions/locomanipulation/LM22/session_024/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:859e38fdd24d04428bc57ad0a46a31f5ff7a22073d3fbb7056c21605d8ee3ac6
+size 3803876

actions/locomanipulation/LM22/session_024/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:12d02aeb75b0132108f38c40e4b77dfb38e31f7a832b69c021783859e9ddd99a
-size 4580742
+oid sha256:0c42f2abc4158feffe2de071e3223d7f28f90c003bfdab2a5ae8ba4a6b75b1f1
+size 8510366

actions/locomanipulation/LM22/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": "LM22",
+ "instruction": "Carry the box along the marked route, turning 90 degrees at the corner the operator calls, and set it down at the end. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 93.966711,
+   "video": "left_eye",
+   "video_t_start": 0.03911813074148052
+  }
+ ],
+ "episodes": [
+  {
+   "id": "85339946-d4b8-49b8-8341-247c2c5fcc98",
+   "segment": "segment1",
+   "action": "LM22",
+   "quality": "valid",
+   "start_s": 1,
+   "end_s": 85.399,
+   "t_start": 1.0391,
+   "t_end": 85.4381,
+   "instruction": "Carry the box along the marked route, turning 90 degrees at the corner the operator calls, and set it down at the end. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}

actions/locomanipulation/LM22/session_025/cameras/gsi_online_calibration.json

@@ -0,0 +1,255 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.401
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.0887,
+   "gate_fail": [],
+   "held_out_px_after": 0.767,
+   "held_out_px_before": 6.107,
+   "inliers": 1398,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.4636,
+    -0.43,
+    -0.8862
+   ],
+   "split_deg": 0.0296,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.4702,
+   "gate_fail": [],
+   "held_out_px_after": 0.41,
+   "held_out_px_before": 6.271,
+   "inliers": 2439,
+   "position_fitted": true,
+   "position_mm": [
+    2.63,
+    -16.44,
+    4.26
+   ],
+   "position_sigma_mm": 0.225,
+   "position_split_mm": 4.455,
+   "rotvec_deg": [
+    -0.4017,
+    0.8843,
+    -2.2712
+   ],
+   "split_deg": 0.07,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.2878,
+   "gate_fail": [],
+   "held_out_px_after": 0.503,
+   "held_out_px_before": 4.95,
+   "inliers": 1670,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.1695,
+    -0.2043,
+    -0.499
+   ],
+   "split_deg": 0.1467,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.9298,
+   "gate_fail": [],
+   "held_out_px_after": 0.371,
+   "held_out_px_before": 3.636,
+   "inliers": 2340,
+   "position_fitted": true,
+   "position_mm": [
+    8.46,
+    -19.23,
+    4.32
+   ],
+   "position_sigma_mm": 0.235,
+   "position_split_mm": 1.951,
+   "rotvec_deg": [
+    -0.0431,
+    -0.3042,
+    -0.8775
+   ],
+   "split_deg": 0.0641,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.0223,
+   "gate_fail": [],
+   "held_out_px_after": 0.341,
+   "held_out_px_before": 6.583,
+   "inliers": 3407,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2738,
+    0.013,
+    -2.0036
+   ],
+   "split_deg": 0.0154,
+   "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": "ac107abc9fb66b8de31f3072e41214fd2233a9e151bb0f8a04170bebf31f4663",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "f2515ce78ae483ed009a443417a307518cbc173dd4936710b0519a60b4f8f631",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "d67d4d24ae4e9feb548684bd7a25a0c87c5d015dbe890fc71c26e519ee45662d",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "91cb54d311d3243778fb5a66bb64973aebd0ab4b58a60dcc0ee90975f5c8b0be",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "f4f8cd3ef9b8d99f",
+ "kind": "online_calibration",
+ "output_sha256": "e0ab9b61d248fa5c1c62eeeb88dbb01eaa682a5b1a4a627dcacf3b80a56f15c0",
+ "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": 38.345,
+  "left_eye": 28.58,
+  "left_front": 36.815,
+  "right": 36.405,
+  "right_eye": 27.96,
+  "right_front": 35.493
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   20806694534000,
+   20807694645111,
+   20809694545111,
+   20810694534000,
+   20812694534000,
+   20813694534000,
+   20817694534000,
+   20818694534000,
+   20819694500666,
+   20820694511777,
+   20823694522888,
+   20824694522888,
+   20826694556222,
+   20827694545111,
+   20828694545111,
+   20831694522888,
+   20832694545111,
+   20833694511777,
+   20834694511777,
+   20837694511777,
+   20838694534000,
+   20841694522888,
+   20842694545111,
+   20843694534000,
+   20846694578444,
+   20847694511777,
+   20849694534000,
+   20850694534000,
+   20851694511777,
+   20852694500666,
+   20853694534000,
+   20854694500666,
+   20856694500666,
+   20857694522888,
+   20861694500666,
+   20862694622888,
+   20864694545111,
+   20865694500666,
+   20866694545111,
+   20868694511777,
+   20869694534000,
+   20872694511777,
+   20873694511777,
+   20874694534000,
+   20875694500666,
+   20879694534000,
+   20880694545111,
+   20882694534000,
+   20883694511777,
+   20885694534000,
+   20886694534000,
+   20887694534000,
+   20890694545111,
+   20891694500666,
+   20892694545111,
+   20893694511777
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM22/session_025/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:917478d409b434130ded4debbc816c2d564de74f8acba8b4440cb1541cbd37d9
+size 541409

actions/locomanipulation/LM22/session_025/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": {
@@ -517,10 +517,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.309730997345049
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 23.36,
+    "offset_rotvec": [
+     0.4057,
+     -0.0265,
+     0.0319
+    ],
+    "dev_deg": {
+     "median": 13.43,
+     "p90": 25.81
+    },
+    "samples": 2729,
+    "accepted": 2590,
+    "wrist_pos_err_mm_median": 51.9,
+    "per_camera": {
+     "head": {
+      "samples": 2729,
+      "accepted": 2590,
+      "gate_deg": 30.0,
+      "offset_deg": 23.36,
+      "tier": "primary",
+      "dev_deg_median": 13.43,
+      "wrist_pos_err_mm_median": 51.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10466,
+     "interpolated": 806,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9989,
+    "observed_fraction_of_valid": 0.9989,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 23.3,
+     "smplx": 1.42
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.9,
+      "p90": 15.0
+     },
+     "registered": {
+      "median": 11.1,
+      "p90": 13.5
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 27.66,
+    "offset_rotvec": [
+     0.4732,
+     -0.0872,
+     0.0383
+    ],
+    "dev_deg": {
+     "median": 15.48,
+     "p90": 34.14
+    },
+    "samples": 1908,
+    "accepted": 1637,
+    "wrist_pos_err_mm_median": 134.9,
+    "per_camera": {
+     "head": {
+      "samples": 1908,
+      "accepted": 1637,
+      "gate_deg": 30.0,
+      "offset_deg": 27.66,
+      "tier": "primary",
+      "dev_deg_median": 15.48,
+      "wrist_pos_err_mm_median": 134.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 6734,
+     "interpolated": 3158,
+     "mean_hand": 1392,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.8766,
+    "observed_fraction_of_valid": 0.8766,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 31.96,
+     "smplx": 1.64
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.9,
+      "p90": 22.8
+     },
+     "registered": {
+      "median": 9.8,
+      "p90": 22.2
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:16:54.750372+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/LM22/session_025",
   "family": "locomanipulation",
   "primitive": "LM22",
   "source_session": "20261009/LM22/20261009_093502_session91"
+ },
+ "task": {
+  "primitive": "LM22",
+  "instruction": "Carry the box along the marked route, turning 90 degrees at the corner the operator calls, and set it down at the end. Keep going until the operator says stop; one object at a time, and do not rush between trips."
  }
 }

actions/locomanipulation/LM22/session_025/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2413f48918b1eb4ecb146645beb33fff12ba160cd1220cbbaf145c9a78a867da
+size 3154344

actions/locomanipulation/LM22/session_025/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e8787e19d3cfdd60b07b727f611a4f32055de7e2bfa536e2e177b9fcbab7fc48
-size 4327643
+oid sha256:b062c5dfcd3c7c8e52a1a9068ec664f81bf9dfcfa547d01c86bf6073b84cca2f
+size 7939491

actions/locomanipulation/LM22/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": "LM22",
+ "instruction": "Carry the box along the marked route, turning 90 degrees at the corner the operator calls, and set it down at the end. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 103.966778,
+   "video": "left_eye",
+   "video_t_start": 0.03910393077825125
+  }
+ ],
+ "episodes": [
+  {
+   "id": "36fabdbd-690c-4f2e-a0c4-9bd4ad50de5f",
+   "segment": "segment1",
+   "action": "LM22",
+   "quality": "valid",
+   "start_s": 1,
+   "end_s": 95.853,
+   "t_start": 1.0391,
+   "t_end": 95.8921,
+   "instruction": "Carry the box along the marked route, turning 90 degrees at the corner the operator calls, and set it down at the end. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}