Release update 2026-11-05: new sessions, instructions, annotations (part 2)

.gitattributes

@@ -44377,3 +44377,21 @@ actions/locomanipulation/LM10/session_050/raw/sensors/robowrist_imu_left.db filt
 actions/locomanipulation/LM10/session_050/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM10/session_050/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM10/session_050/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM11/session_038/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM11/session_038/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM11/session_038/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM11/session_038/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM11/session_038/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM11/session_038/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM11/session_038/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM11/session_038/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM11/session_038/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM11/session_039/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM11/session_039/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM11/session_039/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM11/session_039/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM11/session_039/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM11/session_039/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM11/session_039/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM11/session_039/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM11/session_039/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/locomanipulation/LM11/session_024/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:01ec12196ac946a9eeb091061abe1f7652957e7ab6253423c74f49b2877e3ab3
-size 6180968
+oid sha256:894bd15e5dbea0fd71144cb801ae7ebefa95cbb7a2d84b249eb52c76025ec1da
+size 11469154

actions/locomanipulation/LM11/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": "LM11",
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 138.966567,
+   "video": "left_eye",
+   "video_t_start": 0.03863123461993645
+  }
+ ],
+ "episodes": [
+  {
+   "id": "87561976-bfe4-4396-95db-78e794545bc4",
+   "segment": "segment1",
+   "action": "LM11",
+   "quality": "valid",
+   "start_s": 0.855,
+   "end_s": 129.454,
+   "t_start": 0.8936,
+   "t_end": 129.4926,
+   "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
+  }
+ ]
+}

actions/locomanipulation/LM11/session_025/cameras/gsi_online_calibration.json

@@ -0,0 +1,257 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.359
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.2342,
+   "gate_fail": [],
+   "held_out_px_after": 0.478,
+   "held_out_px_before": 6.427,
+   "inliers": 2808,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.0661,
+    -0.4738,
+    -1.1378
+   ],
+   "split_deg": 0.0277,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.6331,
+   "gate_fail": [],
+   "held_out_px_after": 0.391,
+   "held_out_px_before": 7.456,
+   "inliers": 4489,
+   "position_fitted": true,
+   "position_mm": [
+    6.32,
+    -15.09,
+    4.28
+   ],
+   "position_sigma_mm": 0.223,
+   "position_split_mm": 3.606,
+   "rotvec_deg": [
+    -0.0262,
+    0.8592,
+    -2.4888
+   ],
+   "split_deg": 0.0183,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 1.9133,
+   "gate_fail": [],
+   "held_out_px_after": 0.705,
+   "held_out_px_before": 6.388,
+   "inliers": 1283,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.7198,
+    -0.6566,
+    -0.5216
+   ],
+   "split_deg": 0.2035,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.2046,
+   "gate_fail": [],
+   "held_out_px_after": 0.355,
+   "held_out_px_before": 3.171,
+   "inliers": 5041,
+   "position_fitted": true,
+   "position_mm": [
+    6.07,
+    -15.54,
+    8.76
+   ],
+   "position_sigma_mm": 0.276,
+   "position_split_mm": 5.815,
+   "rotvec_deg": [
+    0.3077,
+    -0.2744,
+    -1.1318
+   ],
+   "split_deg": 0.0358,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.0493,
+   "gate_fail": [],
+   "held_out_px_after": 0.31,
+   "held_out_px_before": 6.234,
+   "inliers": 5207,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.1945,
+    0.0706,
+    -2.0389
+   ],
+   "split_deg": 0.0079,
+   "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": "3bd7b932445e57c2d528489c3548bdb00f5efe1420aee9a94538b88524291b51",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "106c5ae56e03acb295f8d7e9bbbbed7e9d6f016401ab42d23f77ccda8d193b1f",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "b97ecb44306f34a3ef0e02e7b2cdbb99494e414891c50d8509edb1c5906836c0",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "0aa403dcf823432868defabec2472f68d43afe11edc66a27815d586ba12677e7",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "873ac15eae1f04ee",
+ "kind": "online_calibration",
+ "output_sha256": "c0f54ee5ff2d702c1400dbe810c5f3720b11069b085e5efff99364f678ebfbf7",
+ "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": 33.511,
+  "left_eye": 29.366,
+  "left_front": 34.295,
+  "right": 35.676,
+  "right_eye": 27.033,
+  "right_front": 33.458
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   2761159687777,
+   2762159721111,
+   2763159698888,
+   2769159710000,
+   2770159721111,
+   2774159721111,
+   2775159710000,
+   2779159676666,
+   2780159698888,
+   2783159710000,
+   2784159710000,
+   2788159721111,
+   2789159710000,
+   2790159721111,
+   2793159710000,
+   2794159721111,
+   2799159721111,
+   2800159732222,
+   2802159676666,
+   2803159732222,
+   2807159710000,
+   2808159721111,
+   2812159676666,
+   2813159698888,
+   2818159710000,
+   2819159710000,
+   2822159710000,
+   2823159710000,
+   2828159710000,
+   2829159710000,
+   2830159721111,
+   2834159710000,
+   2835159710000,
+   2840159743333,
+   2841159721111,
+   2844159676666,
+   2845159721111,
+   2849159710000,
+   2850159698888,
+   2852159732222,
+   2853159710000,
+   2857159698888,
+   2858159710000,
+   2862159687777,
+   2863159676666,
+   2868159710000,
+   2869159687777,
+   2870159698888,
+   2874159687777,
+   2875159710000,
+   2882159721111,
+   2883159710000,
+   2886159710000,
+   2887159687777,
+   2888159776666,
+   2889159721111
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM11/session_025/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dcc54d49265edec5b1b009eab276cc44850d5abd79a9c8616386e8f876e6bf3
+size 798085

actions/locomanipulation/LM11/session_025/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": {
@@ -502,10 +502,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 18.8,
+    "offset_rotvec": [
+     0.3144,
+     0.0935,
+     -0.0046
+    ],
+    "dev_deg": {
+     "median": 18.49,
+     "p90": 33.95
+    },
+    "samples": 3466,
+    "accepted": 2967,
+    "wrist_pos_err_mm_median": 130.4,
+    "per_camera": {
+     "head": {
+      "samples": 3466,
+      "accepted": 2967,
+      "gate_deg": 30.0,
+      "offset_deg": 18.8,
+      "tier": "primary",
+      "dev_deg_median": 18.49,
+      "wrist_pos_err_mm_median": 130.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12152,
+     "interpolated": 3316,
+     "mean_hand": 1216,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9271,
+    "observed_fraction_of_valid": 0.9271,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 28.87,
+     "smplx": 0.87
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.9,
+      "p90": 11.0
+     },
+     "registered": {
+      "median": 9.4,
+      "p90": 14.1
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 12.93,
+    "offset_rotvec": [
+     0.1101,
+     -0.1522,
+     -0.1252
+    ],
+    "dev_deg": {
+     "median": 14.27,
+     "p90": 32.64
+    },
+    "samples": 3468,
+    "accepted": 3000,
+    "wrist_pos_err_mm_median": 88.2,
+    "per_camera": {
+     "head": {
+      "samples": 3468,
+      "accepted": 3000,
+      "gate_deg": 30.0,
+      "offset_deg": 12.93,
+      "tier": "primary",
+      "dev_deg_median": 14.27,
+      "wrist_pos_err_mm_median": 88.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12268,
+     "interpolated": 3504,
+     "mean_hand": 912,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9453,
+    "observed_fraction_of_valid": 0.9453,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 16.62,
+     "smplx": 0.76
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.4,
+      "p90": 8.2
+     },
+     "registered": {
+      "median": 6.6,
+      "p90": 7.8
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:13:35.184801+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/LM11/session_025",
   "family": "locomanipulation",
   "primitive": "LM11",
   "source_session": "20261010/LM11/20261010_085655_session115"
+ },
+ "task": {
+  "primitive": "LM11",
+  "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
  }
 }

actions/locomanipulation/LM11/session_025/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ee1743a27cdb81df0f4bd9b4eb8412910cffe543cee8a8fb68bf68d1d0020cd
+size 4718912

actions/locomanipulation/LM11/session_025/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:738228fcad04aea67f69912284c6ad3f7fd1988fb73fd3632c41a665b2174d7b
-size 6419380
+oid sha256:5c4c2f04e18d1dbf987f320b24119995661eb9660f03baf42b8df7db8ae28b11
+size 11745831

actions/locomanipulation/LM11/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": "LM11",
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 128.966789,
+   "video": "left_eye",
+   "video_t_start": 0.038690274152130666
+  }
+ ],
+ "episodes": [
+  {
+   "id": "c6ceebe0-301e-467b-b459-9d076f1defcd",
+   "segment": "segment1",
+   "action": "LM11",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 125.214,
+   "t_start": 0.0387,
+   "t_end": 125.2527,
+   "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
+  }
+ ]
+}

actions/locomanipulation/LM11/session_026/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62a589c56f3794918a40cd069a5dfa62328a4cb1a328cf3f763ede98e13ddbdb
+size 738160

actions/locomanipulation/LM11/session_026/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": {
@@ -484,12 +484,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 71.32,
+    "offset_rotvec": [
+     1.2433,
+     -0.0516,
+     -0.0319
+    ],
+    "dev_deg": {
+     "median": 11.81,
+     "p90": 24.26
+    },
+    "samples": 3802,
+    "accepted": 3625,
+    "wrist_pos_err_mm_median": 44.3,
+    "per_camera": {
+     "head": {
+      "samples": 3802,
+      "accepted": 3625,
+      "gate_deg": 30.0,
+      "offset_deg": 71.32,
+      "tier": "primary",
+      "dev_deg_median": 11.81,
+      "wrist_pos_err_mm_median": 44.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14525,
+     "interpolated": 286,
+     "mean_hand": 561,
+     "no_body_fit": 112
+    },
+    "observed_fraction": 0.9565,
+    "observed_fraction_of_valid": 0.9635,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 69.17,
+     "smplx": 1.27
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 12.8,
+      "p90": 22.6
+     },
+     "registered": {
+      "median": 11.7,
+      "p90": 19.4
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 64.87,
+    "offset_rotvec": [
+     1.0028,
+     -0.4764,
+     0.2218
+    ],
+    "dev_deg": {
+     "median": 7.51,
+     "p90": 19.51
+    },
+    "samples": 3813,
+    "accepted": 3620,
+    "wrist_pos_err_mm_median": 49.4,
+    "per_camera": {
+     "head": {
+      "samples": 3813,
+      "accepted": 3620,
+      "gate_deg": 30.0,
+      "offset_deg": 64.87,
+      "tier": "primary",
+      "dev_deg_median": 7.51,
+      "wrist_pos_err_mm_median": 49.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14483,
+     "interpolated": 92,
+     "mean_hand": 797,
+     "no_body_fit": 112
+    },
+    "observed_fraction": 0.9413,
+    "observed_fraction_of_valid": 0.9482,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 66.14,
+     "smplx": 0.41
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 12.9,
+      "p90": 16.6
+     },
+     "registered": {
+      "median": 12.2,
+      "p90": 15.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:06:55.876798+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/LM11/session_026",
   "family": "locomanipulation",
   "primitive": "LM11",
   "source_session": "20261014/LM11/20261014_080335_session116"
  },
+ "task": {
+  "primitive": "LM11",
+  "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
+ },
  "objects": [
   {
    "name": "LittleBox1",

actions/locomanipulation/LM11/session_026/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07a8b2ccf3aec36793b1334e7d062d0d7c70589c2f94878e1ae5de7142f99029
+size 5186525

actions/locomanipulation/LM11/session_026/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:9ef6689e20e07f84a1083111ab717f1ec96c65628cd1f9f6fcc1c28519064c15
-size 5901569
+oid sha256:8d8cfa0d0d1f0bd71ed118a7145b6c91fe309d8193ad613ad50b512c1c5f63f5
+size 10865169

actions/locomanipulation/LM11/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": "LM11",
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 128.966633,
+   "video": "left_eye",
+   "video_t_start": 0.03903334568773609
+  }
+ ],
+ "episodes": [
+  {
+   "id": "bdc0de8f-ace1-4d3d-95f9-de7729810b5b",
+   "segment": "segment1",
+   "action": "LM11",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 123.249,
+   "t_start": 0.039,
+   "t_end": 123.288,
+   "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
+  }
+ ]
+}

actions/locomanipulation/LM11/session_027/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f2c363a5c74fb1fc184fe0c002baeedd11d00467632c1a385e40a740f74f0cf
+size 739206

actions/locomanipulation/LM11/session_027/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": {
@@ -491,12 +491,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 48.05,
+    "offset_rotvec": [
+     0.8298,
+     -0.0111,
+     -0.1206
+    ],
+    "dev_deg": {
+     "median": 5.27,
+     "p90": 12.51
+    },
+    "samples": 3592,
+    "accepted": 3536,
+    "wrist_pos_err_mm_median": 48.8,
+    "per_camera": {
+     "head": {
+      "samples": 3592,
+      "accepted": 3536,
+      "gate_deg": 30.0,
+      "offset_deg": 48.05,
+      "tier": "primary",
+      "dev_deg_median": 5.27,
+      "wrist_pos_err_mm_median": 48.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14152,
+     "interpolated": 104,
+     "mean_hand": 233,
+     "no_body_fit": 995
+    },
+    "observed_fraction": 0.9207,
+    "observed_fraction_of_valid": 0.9839,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 48.14,
+     "smplx": 1.29
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 12.2,
+      "p90": 20.3
+     },
+     "registered": {
+      "median": 13.3,
+      "p90": 18.6
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 59.07,
+    "offset_rotvec": [
+     0.8799,
+     -0.4934,
+     0.2127
+    ],
+    "dev_deg": {
+     "median": 6.07,
+     "p90": 13.69
+    },
+    "samples": 3571,
+    "accepted": 3339,
+    "wrist_pos_err_mm_median": 51.6,
+    "per_camera": {
+     "head": {
+      "samples": 3571,
+      "accepted": 3339,
+      "gate_deg": 30.0,
+      "offset_deg": 59.07,
+      "tier": "primary",
+      "dev_deg_median": 6.07,
+      "wrist_pos_err_mm_median": 51.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13346,
+     "interpolated": 0,
+     "mean_hand": 1143,
+     "no_body_fit": 995
+    },
+    "observed_fraction": 0.8619,
+    "observed_fraction_of_valid": 0.9211,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 60.42,
+     "smplx": 0.48
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.9,
+      "p90": 15.4
+     },
+     "registered": {
+      "median": 10.2,
+      "p90": 14.1
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:06:52.651957+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/LM11/session_027",
   "family": "locomanipulation",
   "primitive": "LM11",
   "source_session": "20261014/LM11/20261014_080559_session117"
  },
+ "task": {
+  "primitive": "LM11",
+  "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
+ },
  "objects": [
   {
    "name": "LittleBox1",

actions/locomanipulation/LM11/session_027/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c667ee9b1795faa608a64d9c3ccb8b2471e20642fdf4064371b259764790acb
+size 5183844

actions/locomanipulation/LM11/session_027/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:49c6a4099dba491f0f31652a5aaa5cb884b824b451bd816e68ce0556e876f95b
-size 5562154
+oid sha256:9d03bae02cae876402639a53f59f95d61c3dc92320e88bc36f64904a39260705
+size 10214010

actions/locomanipulation/LM11/session_028/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": "LM11",
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 128.966567,
+   "video": "left_eye",
+   "video_t_start": 0.039204726741186136
+  }
+ ],
+ "episodes": [
+  {
+   "id": "6075fac5-8b2b-4df1-b914-a04bbe117af3",
+   "segment": "segment1",
+   "action": "LM11",
+   "quality": "valid",
+   "start_s": 1,
+   "end_s": 121.256,
+   "t_start": 1.0392,
+   "t_end": 121.2952,
+   "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
+  }
+ ]
+}

actions/locomanipulation/LM11/session_028/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b27e972f9161293094fdc25f3ae0e5ceaed763aaa7539aa00136c65371b4da27
+size 740193

actions/locomanipulation/LM11/session_028/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": 44.11,
+    "offset_rotvec": [
+     0.7559,
+     0.1246,
+     -0.0754
+    ],
+    "dev_deg": {
+     "median": 6.73,
+     "p90": 14.31
+    },
+    "samples": 3841,
+    "accepted": 3717,
+    "wrist_pos_err_mm_median": 34.2,
+    "per_camera": {
+     "head": {
+      "samples": 3841,
+      "accepted": 3717,
+      "gate_deg": 30.0,
+      "offset_deg": 44.11,
+      "tier": "primary",
+      "dev_deg_median": 6.73,
+      "wrist_pos_err_mm_median": 34.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14896,
+     "interpolated": 288,
+     "mean_hand": 300,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9806,
+    "observed_fraction_of_valid": 0.9806,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 44.41,
+     "smplx": 1.52
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 13.9,
+      "p90": 21.6
+     },
+     "registered": {
+      "median": 13.9,
+      "p90": 19.8
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 53.41,
+    "offset_rotvec": [
+     0.7682,
+     -0.4811,
+     0.2177
+    ],
+    "dev_deg": {
+     "median": 8.77,
+     "p90": 26.96
+    },
+    "samples": 3840,
+    "accepted": 3506,
+    "wrist_pos_err_mm_median": 55.7,
+    "per_camera": {
+     "head": {
+      "samples": 3840,
+      "accepted": 3506,
+      "gate_deg": 30.0,
+      "offset_deg": 53.41,
+      "tier": "primary",
+      "dev_deg_median": 8.77,
+      "wrist_pos_err_mm_median": 55.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14034,
+     "interpolated": 306,
+     "mean_hand": 1144,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9261,
+    "observed_fraction_of_valid": 0.9261,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 55.27,
+     "smplx": 0.9
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.3,
+      "p90": 15.2
+     },
+     "registered": {
+      "median": 9.4,
+      "p90": 13.8
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:06:23.270947+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/LM11/session_028",
   "family": "locomanipulation",
   "primitive": "LM11",
   "source_session": "20261014/LM11/20261014_080916_session119"
  },
+ "task": {
+  "primitive": "LM11",
+  "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
+ },
  "objects": [
   {
    "name": "LittleBox1",

actions/locomanipulation/LM11/session_028/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fc584f3676a670b817e0ba8eac142df00f85d93412dd69a60c6044189194fa2
+size 5194609

actions/locomanipulation/LM11/session_028/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f17f2638b42402a0a1227de5c7b5ef9c8b168bd5e06af32ee1137d0e36a8147a
-size 5930485
+oid sha256:44455d2772bc78fe055a298574645e55e43e2e269ea401f6dd122d2ef39a9e02
+size 10944337

actions/locomanipulation/LM11/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": "LM11",
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 128.966622,
+   "video": "left_eye",
+   "video_t_start": 0.039103168952757006
+  }
+ ],
+ "episodes": [
+  {
+   "id": "5ec656ef-fc15-44ce-a839-1ff710098dc2",
+   "segment": "segment1",
+   "action": "LM11",
+   "quality": "valid",
+   "start_s": 6.216,
+   "end_s": 123.647,
+   "t_start": 6.2551,
+   "t_end": 123.6861,
+   "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
+  }
+ ]
+}

actions/locomanipulation/LM11/session_029/cameras/gsi_online_calibration.json

@@ -0,0 +1,258 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.386
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.2419,
+   "gate_fail": [],
+   "held_out_px_after": 0.615,
+   "held_out_px_before": 5.84,
+   "inliers": 1760,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3172,
+    -0.5871,
+    -1.0473
+   ],
+   "split_deg": 0.0082,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.4614,
+   "gate_fail": [],
+   "held_out_px_after": 0.4,
+   "held_out_px_before": 6.345,
+   "inliers": 3634,
+   "position_fitted": true,
+   "position_mm": [
+    7.91,
+    -20.19,
+    3.39
+   ],
+   "position_sigma_mm": 0.126,
+   "position_split_mm": 0.649,
+   "rotvec_deg": [
+    -0.2937,
+    0.7833,
+    -2.3149
+   ],
+   "split_deg": 0.0375,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.5251,
+   "gate_fail": [],
+   "held_out_px_after": 0.488,
+   "held_out_px_before": 5.615,
+   "inliers": 1794,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.4079,
+    -0.2983,
+    -0.5047
+   ],
+   "split_deg": 0.0579,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0616,
+   "gate_fail": [],
+   "held_out_px_after": 0.386,
+   "held_out_px_before": 3.634,
+   "inliers": 3729,
+   "position_fitted": true,
+   "position_mm": [
+    7.18,
+    -22.72,
+    3.72
+   ],
+   "position_sigma_mm": 0.13,
+   "position_split_mm": 0.341,
+   "rotvec_deg": [
+    0.0487,
+    -0.3669,
+    -0.995
+   ],
+   "split_deg": 0.0235,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.3673,
+   "gate_fail": [],
+   "held_out_px_after": 0.353,
+   "held_out_px_before": 7.865,
+   "inliers": 4884,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3206,
+    -0.1865,
+    -2.3381
+   ],
+   "split_deg": 0.0489,
+   "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": "c7c76e5d942d0b5a6c6f8ace66b3c0d0b49ba4be9f9a51a68c3f6da0af80e40f",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "83fdaa6ce2bf1c5700fcdd6e00b3fd8575fe8cfc1317c200d38c07088e2fd97d",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "d44429137683adfb64358c69a2b5e1af9fbe473e486c4f7ea27b405c9833790a",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "5961fbf219dd9e3c5d23ebf68887253ce752473dadd3a35b0be3ab792d562bfd",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "2268779c715a1f27",
+ "kind": "online_calibration",
+ "output_sha256": "f38679574d92ff0b77c31a8b081533e03ef93f17aa747b55b08121b4e74764ad",
+ "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": 41.375,
+  "left_eye": 37.576,
+  "left_front": 44.083,
+  "right": 40.455,
+  "right_eye": 37.029,
+  "right_front": 43.522
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   4614259910888,
+   4615259910888,
+   4619259922000,
+   4620259922000,
+   4623259888666,
+   4624259910888,
+   4630260055333,
+   4631259910888,
+   4632259899777,
+   4633259955333,
+   4636259888666,
+   4637259888666,
+   4639259922000,
+   4640259988666,
+   4645259910888,
+   4646259888666,
+   4649259899777,
+   4650259888666,
+   4654259877555,
+   4655259910888,
+   4657259922000,
+   4658259910888,
+   4661259888666,
+   4662259888666,
+   4667259910888,
+   4668259888666,
+   4671259899777,
+   4672259877555,
+   4676259910888,
+   4677260044222,
+   4679259910888,
+   4680259888666,
+   4684259888666,
+   4685260033111,
+   4688259899777,
+   4689259888666,
+   4692259888666,
+   4693259910888,
+   4696259888666,
+   4697259910888,
+   4701259910888,
+   4702259922000,
+   4705259933111,
+   4706259922000,
+   4709259933111,
+   4710259910888,
+   4713259910888,
+   4714259888666,
+   4717259877555,
+   4718259888666,
+   4721259888666,
+   4722259888666,
+   4726259922000,
+   4727259888666,
+   4730259922000,
+   4731259933111,
+   4732259888666,
+   4738259888666,
+   4739259899777
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM11/session_029/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b062158afb0ee88650d6f0e961755367f20ba484129a062056b084704c04740
+size 741683

actions/locomanipulation/LM11/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": {
@@ -505,12 +505,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 31.33,
+    "offset_rotvec": [
+     0.5361,
+     -0.0887,
+     -0.0613
+    ],
+    "dev_deg": {
+     "median": 24.76,
+     "p90": 37.77
+    },
+    "samples": 3688,
+    "accepted": 2519,
+    "wrist_pos_err_mm_median": 59.8,
+    "per_camera": {
+     "head": {
+      "samples": 3688,
+      "accepted": 2519,
+      "gate_deg": 30.0,
+      "offset_deg": 31.33,
+      "tier": "primary",
+      "dev_deg_median": 24.76,
+      "wrist_pos_err_mm_median": 59.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10222,
+     "interpolated": 2670,
+     "mean_hand": 2137,
+     "no_body_fit": 455
+    },
+    "observed_fraction": 0.8326,
+    "observed_fraction_of_valid": 0.8578,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 26.48,
+     "smplx": 1.27
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.7,
+      "p90": 10.0
+     },
+     "registered": {
+      "median": 8.5,
+      "p90": 10.7
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 19.32,
+    "offset_rotvec": [
+     0.213,
+     -0.2474,
+     -0.0844
+    ],
+    "dev_deg": {
+     "median": 5.03,
+     "p90": 11.0
+    },
+    "samples": 3687,
+    "accepted": 3594,
+    "wrist_pos_err_mm_median": 50.1,
+    "per_camera": {
+     "head": {
+      "samples": 3687,
+      "accepted": 3594,
+      "gate_deg": 30.0,
+      "offset_deg": 19.32,
+      "tier": "primary",
+      "dev_deg_median": 5.03,
+      "wrist_pos_err_mm_median": 50.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14404,
+     "interpolated": 368,
+     "mean_hand": 257,
+     "no_body_fit": 455
+    },
+    "observed_fraction": 0.954,
+    "observed_fraction_of_valid": 0.9829,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 16.6,
+     "smplx": 0.72
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 15.3,
+      "p90": 24.4
+     },
+     "registered": {
+      "median": 13.9,
+      "p90": 22.5
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:53:43.893319+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/LM11/session_029",
   "family": "locomanipulation",
   "primitive": "LM11",
   "source_session": "20261015/LM11/20261015_015244_session19"
  },
+ "task": {
+  "primitive": "LM11",
+  "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
+ },
  "objects": [
   {
    "name": "LittleBox1",

actions/locomanipulation/LM11/session_029/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3de7c6052caf562e398a3e0e91da2dc2ee4c88f4e1b3b58ae8f4d247fdbd4ab
+size 5133199

actions/locomanipulation/LM11/session_029/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c1e1bea72add9badcd84449a352542506e5ec2c3a0bcb7c6e241edeaa9f6a60d
-size 5781089
+oid sha256:190335d56d4ffd4107bb24c1e2dde713d8326474f3f93135a06e1f1b50ce79c4
+size 10510406

actions/locomanipulation/LM11/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": "LM11",
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 133.966667,
+   "video": "left_eye",
+   "video_t_start": 0.0392613129499324
+  }
+ ],
+ "episodes": [
+  {
+   "id": "8123a7b8-5ff5-453a-9f9b-4f197c238e4c",
+   "segment": "segment1",
+   "action": "LM11",
+   "quality": "valid",
+   "start_s": 1,
+   "end_s": 130.216,
+   "t_start": 1.0393,
+   "t_end": 130.2553,
+   "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
+  }
+ ]
+}

actions/locomanipulation/LM11/session_030/cameras/gsi_online_calibration.json

@@ -0,0 +1,257 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.385
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.2422,
+   "gate_fail": [],
+   "held_out_px_after": 0.584,
+   "held_out_px_before": 5.856,
+   "inliers": 1894,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.4809,
+    -0.6043,
+    -0.9729
+   ],
+   "split_deg": 0.1124,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.4531,
+   "gate_fail": [],
+   "held_out_px_after": 0.342,
+   "held_out_px_before": 5.536,
+   "inliers": 3176,
+   "position_fitted": true,
+   "position_mm": [
+    7.25,
+    -19.79,
+    2.91
+   ],
+   "position_sigma_mm": 0.151,
+   "position_split_mm": 1.519,
+   "rotvec_deg": [
+    -0.2645,
+    0.8296,
+    -2.2934
+   ],
+   "split_deg": 0.101,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 1.5044,
+   "gate_fail": [],
+   "held_out_px_after": 0.493,
+   "held_out_px_before": 4.838,
+   "inliers": 1648,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.3807,
+    -0.204,
+    -0.5615
+   ],
+   "split_deg": 0.0967,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0512,
+   "gate_fail": [],
+   "held_out_px_after": 0.35,
+   "held_out_px_before": 3.729,
+   "inliers": 3049,
+   "position_fitted": true,
+   "position_mm": [
+    7.3,
+    -22.48,
+    3.02
+   ],
+   "position_sigma_mm": 0.145,
+   "position_split_mm": 1.645,
+   "rotvec_deg": [
+    0.054,
+    -0.3123,
+    -1.0023
+   ],
+   "split_deg": 0.0559,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.346,
+   "gate_fail": [],
+   "held_out_px_after": 0.398,
+   "held_out_px_before": 7.883,
+   "inliers": 4364,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2931,
+    -0.1295,
+    -2.3241
+   ],
+   "split_deg": 0.0109,
+   "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": "596d11c7155d531cd65954ec9d916850ce7fef539622795f4b6dec2070b21036",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "6d8510c0eb9fc5eebf6f0ce46f6de4f7187d4f113e38aee45843cd97da3c6855",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "3d04c72a94fdccec3235028546320c372907cb819aa70a4f45ee0a7ef4b2f53f",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "6743afa7d6d8aeb7965230775cffdcc168f9f27e9c21f9d97900b43aadb0b2ab",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "f8c4f0afb3cf5d34",
+ "kind": "online_calibration",
+ "output_sha256": "f1db1ca580b62a56cd81fee5c69261b8e7f4fd0f0be838157c8629006842e9df",
+ "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": 41.141,
+  "left_eye": 38.847,
+  "left_front": 42.753,
+  "right": 40.356,
+  "right_eye": 38.723,
+  "right_front": 42.658
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   4757997522000,
+   4758997522000,
+   4763997488666,
+   4764997488666,
+   4769997522000,
+   4770997499777,
+   4773997522000,
+   4774997544222,
+   4778997533111,
+   4779997655333,
+   4780997522000,
+   4786997488666,
+   4787997588666,
+   4789997510888,
+   4790997510888,
+   4796997488666,
+   4797997599777,
+   4798997599777,
+   4801997488666,
+   4802997488666,
+   4806997533111,
+   4807997522000,
+   4810997510888,
+   4811997488666,
+   4814997633111,
+   4815997510888,
+   4819997522000,
+   4820997655333,
+   4826997499777,
+   4827997599777,
+   4828997510888,
+   4829997633111,
+   4835997522000,
+   4836997499777,
+   4837997588666,
+   4844997522000,
+   4845997510888,
+   4847997499777,
+   4848997510888,
+   4851997499777,
+   4852997488666,
+   4855997644222,
+   4856997488666,
+   4858997499777,
+   4859997533111,
+   4866997499777,
+   4867997533111,
+   4868997499777,
+   4871997522000,
+   4872997488666,
+   4875997522000,
+   4876997522000,
+   4881997488666,
+   4882997566444,
+   4884997499777,
+   4885997499777
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM11/session_030/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:218152f2d30d0dbb2b733e7875d352360bb6ffff213e0418a4cf0413120d2acf
+size 772229

actions/locomanipulation/LM11/session_030/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": {
@@ -541,12 +541,126 @@
   },
   "applied": 1
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 21.74,
+    "offset_rotvec": [
+     0.3656,
+     0.0913,
+     -0.0446
+    ],
+    "dev_deg": {
+     "median": 19.01,
+     "p90": 59.17
+    },
+    "samples": 3950,
+    "accepted": 2973,
+    "wrist_pos_err_mm_median": 63.6,
+    "per_camera": {
+     "head": {
+      "samples": 3950,
+      "accepted": 2973,
+      "gate_deg": 30.0,
+      "offset_deg": 21.74,
+      "tier": "primary",
+      "dev_deg_median": 19.01,
+      "wrist_pos_err_mm_median": 63.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11988,
+     "interpolated": 1524,
+     "mean_hand": 2572,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.8401,
+    "observed_fraction_of_valid": 0.8401,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 23.88,
+     "smplx": NaN
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": NaN,
+      "p90": NaN
+     },
+     "registered": {
+      "median": NaN,
+      "p90": NaN
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 25.04,
+    "offset_rotvec": [
+     0.3853,
+     -0.2021,
+     -0.0407
+    ],
+    "dev_deg": {
+     "median": 9.14,
+     "p90": 27.99
+    },
+    "samples": 3969,
+    "accepted": 3615,
+    "wrist_pos_err_mm_median": 48.2,
+    "per_camera": {
+     "head": {
+      "samples": 3969,
+      "accepted": 3615,
+      "gate_deg": 30.0,
+      "offset_deg": 25.04,
+      "tier": "primary",
+      "dev_deg_median": 9.14,
+      "wrist_pos_err_mm_median": 48.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14536,
+     "interpolated": 1276,
+     "mean_hand": 272,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9831,
+    "observed_fraction_of_valid": 0.9831,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 21.61,
+     "smplx": 1.67
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 13.7,
+      "p90": 24.1
+     },
+     "registered": {
+      "median": 12.6,
+      "p90": 22.1
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:53:44.281098+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/LM11/session_030",
   "family": "locomanipulation",
   "primitive": "LM11",
   "source_session": "20261015/LM11/20261015_015507_session20"
  },
+ "task": {
+  "primitive": "LM11",
+  "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
+ },
  "objects": [
   {
    "name": "LittleBox1",

actions/locomanipulation/LM11/session_030/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d40a8725ed3ef9b4484be3b9ec1424bff6ce0d40c728f70c2955310d45284af0
+size 5390009

actions/locomanipulation/LM11/session_030/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:61977cdf9fb0da6883a7991ad57c5368fbaae5f222cb393540f510e852577b60
-size 6194484
+oid sha256:216c4a1bd88811b40eed8432060ab424ff498f1fd9d867346be06ade556a21b5
+size 11197246

actions/locomanipulation/LM11/session_031/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": "LM11",
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 123.966656,
+   "video": "left_eye",
+   "video_t_start": 0.03914400786414296
+  }
+ ],
+ "episodes": [
+  {
+   "id": "274625df-2e50-484c-b051-8c0befea624f",
+   "segment": "segment1",
+   "action": "LM11",
+   "quality": "valid",
+   "start_s": 1,
+   "end_s": 120.787,
+   "t_start": 1.0391,
+   "t_end": 120.8261,
+   "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
+  }
+ ]
+}

actions/locomanipulation/LM11/session_031/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:387509893c526f3e9bbc79fbf6bb749f65517f01b7ba808535f113ec642cb1c9
+size 711466

actions/locomanipulation/LM11/session_031/meta.json

@@ -356,8 +356,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -506,12 +506,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 17.57,
+    "offset_rotvec": [
+     0.29,
+     0.0947,
+     -0.0311
+    ],
+    "dev_deg": {
+     "median": 15.83,
+     "p90": 41.15
+    },
+    "samples": 3662,
+    "accepted": 3067,
+    "wrist_pos_err_mm_median": 78.1,
+    "per_camera": {
+     "head": {
+      "samples": 3662,
+      "accepted": 3067,
+      "gate_deg": 30.0,
+      "offset_deg": 17.57,
+      "tier": "primary",
+      "dev_deg_median": 15.83,
+      "wrist_pos_err_mm_median": 78.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12350,
+     "interpolated": 1394,
+     "mean_hand": 1137,
+     "no_body_fit": 3
+    },
+    "observed_fraction": 0.9234,
+    "observed_fraction_of_valid": 0.9236,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 14.88,
+     "smplx": 1.03
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.8,
+      "p90": 16.5
+     },
+     "registered": {
+      "median": 10.9,
+      "p90": 17.2
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 19.69,
+    "offset_rotvec": [
+     0.2883,
+     -0.1771,
+     -0.0601
+    ],
+    "dev_deg": {
+     "median": 8.29,
+     "p90": 23.2
+    },
+    "samples": 3696,
+    "accepted": 3410,
+    "wrist_pos_err_mm_median": 52.1,
+    "per_camera": {
+     "head": {
+      "samples": 3696,
+      "accepted": 3410,
+      "gate_deg": 30.0,
+      "offset_deg": 19.69,
+      "tier": "primary",
+      "dev_deg_median": 8.29,
+      "wrist_pos_err_mm_median": 52.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13696,
+     "interpolated": 1028,
+     "mean_hand": 157,
+     "no_body_fit": 3
+    },
+    "observed_fraction": 0.9893,
+    "observed_fraction_of_valid": 0.9894,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 17.05,
+     "smplx": 0.92
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 12.8,
+      "p90": 22.0
+     },
+     "registered": {
+      "median": 12.1,
+      "p90": 19.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:53:43.199713+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/LM11/session_031",
   "family": "locomanipulation",
   "primitive": "LM11",
   "source_session": "20261015/LM11/20261015_015737_session21"
  },
+ "task": {
+  "primitive": "LM11",
+  "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
+ },
  "objects": [
   {
    "name": "LittleBox1",

actions/locomanipulation/LM11/session_031/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fbbb380ea439025dc101b25a13126716b236b026d8bea2ead25be5ced93c3a6
+size 5009462

actions/locomanipulation/LM11/session_031/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a402b0813b03036ed916afa12ab8c1954bbe04734e63a1c13285d0f5395287c5
-size 5718544
+oid sha256:ddcd83857309e93a37cee8e3f93a904ad1f677f373425d09638cb2c7a8ab3f47
+size 10548071

actions/locomanipulation/LM11/session_032/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": "LM11",
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 123.666633,
+   "video": "left_eye",
+   "video_t_start": 0.03989447617971113
+  }
+ ],
+ "episodes": [
+  {
+   "id": "4144bb42-957d-4f67-833b-83e02eb8fa19",
+   "segment": "segment1",
+   "action": "LM11",
+   "quality": "valid",
+   "start_s": 3,
+   "end_s": 121.361,
+   "t_start": 3.0399,
+   "t_end": 121.4009,
+   "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
+  }
+ ]
+}

actions/locomanipulation/LM11/session_032/cameras/gsi_online_calibration.json

@@ -0,0 +1,265 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 127,
+    "median_px": 7.16,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.452
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 2.6088,
+   "gate_fail": [],
+   "held_out_px_after": 0.567,
+   "held_out_px_before": 10.518,
+   "inliers": 1898,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.0581,
+    -1.393,
+    0.7936
+   ],
+   "split_deg": 0.1055,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.7692,
+   "gate_fail": [],
+   "held_out_px_after": 1.005,
+   "held_out_px_before": 4.921,
+   "inliers": 2477,
+   "position_fitted": true,
+   "position_mm": [
+    3.28,
+    -19.19,
+    1.25
+   ],
+   "position_sigma_mm": 0.209,
+   "position_split_mm": 2.28,
+   "rotvec_deg": [
+    -0.0259,
+    -0.2905,
+    0.7118
+   ],
+   "split_deg": 0.1722,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.4422,
+   "gate_fail": [],
+   "held_out_px_after": 0.658,
+   "held_out_px_before": 6.866,
+   "inliers": 2528,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.0381,
+    -1.245,
+    2.4789
+   ],
+   "split_deg": 0.0888,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.983,
+   "gate_fail": [],
+   "held_out_px_after": 0.476,
+   "held_out_px_before": 5.925,
+   "inliers": 4788,
+   "position_fitted": true,
+   "position_mm": [
+    -2.09,
+    -15.2,
+    4.22
+   ],
+   "position_sigma_mm": 0.18,
+   "position_split_mm": 1.439,
+   "rotvec_deg": [
+    0.5214,
+    -0.9968,
+    1.6331
+   ],
+   "split_deg": 0.0652,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.012,
+   "gate_fail": [],
+   "held_out_px_after": 0.368,
+   "held_out_px_before": 6.398,
+   "inliers": 5620,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.863,
+    -0.4207,
+    -0.3202
+   ],
+   "split_deg": 0.0534,
+   "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": "79097b1ec538d8556eb1e207d98d62c67955356379ada7dceccc4c7e64a31090",
+   "source_sha256": "2bf43346f9825da1c051096d46ceb924252959c0c3fed4ac9c166c6096121ae0"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "b8ff0a9972d2a57b8bb39f9531e1507b9b88b3262882334bdaa1a2b81d02a352",
+   "source_sha256": "b80f390816142bc598f6a58e17810083d07270f17802c79b0d33dade12e1a7ed"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "62866f546b344628ab6073ba5a2dd7c1526ef683f8f8432df4d49b82ce06188c",
+   "source_sha256": "55ee2a9af25410709c73762b726e1a41e5450b277090a5256571601dd5fd719b"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "3c35f496c81acbbe7415f1584c07912760e778fd99da4891c8593d1e69231959",
+   "source_sha256": "b2fcef709086e19cb082ae12586aebd1a6fa9a92db90015c1c5a641f4588dfc7"
+  }
+ },
+ "input_fingerprint": "22abaae4114693bb",
+ "kind": "online_calibration",
+ "output_sha256": "24f4d6c70794c2cc28a33313af6e62cab42ade5913dbbc304a3ea61565c7f41b",
+ "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": 34.839,
+  "left_eye": 30.33,
+  "left_front": 37.668,
+  "right": 34.105,
+  "right_eye": 31.868,
+  "right_front": 38.484
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   7224896837444,
+   7225896837444,
+   7228896904111,
+   7229896859666,
+   7232896970777,
+   7233896859666,
+   7237896981888,
+   7238896848555,
+   7242896837444,
+   7243896859666,
+   7246896837444,
+   7247896859666,
+   7250896837444,
+   7251896859666,
+   7252896859666,
+   7253896837444,
+   7257896837444,
+   7258896837444,
+   7260896904111,
+   7261896826333,
+   7265896837444,
+   7266896837444,
+   7272896837444,
+   7273896826333,
+   7274896826333,
+   7275896859666,
+   7280896826333,
+   7281896904111,
+   7282896848555,
+   7287896970777,
+   7288896904111,
+   7291896970777,
+   7292896937444,
+   7294896837444,
+   7295896870777,
+   7298896904111,
+   7299896859666,
+   7304896848555,
+   7305896859666,
+   7306896870777,
+   7311896904111,
+   7312896837444,
+   7313896904111,
+   7314896826333,
+   7319896837444,
+   7320896981888,
+   7321896837444,
+   7326896904111,
+   7327896826333,
+   7329896826333,
+   7330896837444,
+   7334896837444,
+   7335896826333,
+   7339896870777,
+   7340896859666,
+   7342896859666,
+   7343896826333
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM11/session_032/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c53bd9081a358b776d523f55eb88a408244955957094471808320bf95a34f0f
+size 712468

actions/locomanipulation/LM11/session_032/meta.json

@@ -383,8 +383,8 @@
   "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": {
@@ -581,12 +581,126 @@
   },
   "applied": 3
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 63.04,
+    "offset_rotvec": [
+     0.9673,
+     0.3107,
+     0.4224
+    ],
+    "dev_deg": {
+     "median": 27.53,
+     "p90": 48.91
+    },
+    "samples": 2521,
+    "accepted": 1492,
+    "wrist_pos_err_mm_median": 145.6,
+    "per_camera": {
+     "head": {
+      "samples": 2521,
+      "accepted": 1492,
+      "gate_deg": 30.0,
+      "offset_deg": 63.04,
+      "tier": "primary",
+      "dev_deg_median": 27.53,
+      "wrist_pos_err_mm_median": 145.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 6138,
+     "interpolated": 4120,
+     "mean_hand": 4583,
+     "no_body_fit": 7
+    },
+    "observed_fraction": 0.6909,
+    "observed_fraction_of_valid": 0.6912,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 45.43,
+     "smplx": 1.24
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.3,
+      "p90": 7.4
+     },
+     "registered": {
+      "median": 6.6,
+      "p90": 9.3
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 35.54,
+    "offset_rotvec": [
+     0.334,
+     -0.466,
+     -0.2368
+    ],
+    "dev_deg": {
+     "median": 19.35,
+     "p90": 39.86
+    },
+    "samples": 2638,
+    "accepted": 2049,
+    "wrist_pos_err_mm_median": 156.9,
+    "per_camera": {
+     "head": {
+      "samples": 2638,
+      "accepted": 2049,
+      "gate_deg": 30.0,
+      "offset_deg": 35.54,
+      "tier": "primary",
+      "dev_deg_median": 19.35,
+      "wrist_pos_err_mm_median": 156.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 8334,
+     "interpolated": 3058,
+     "mean_hand": 3449,
+     "no_body_fit": 7
+    },
+    "observed_fraction": 0.7672,
+    "observed_fraction_of_valid": 0.7676,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 37.81,
+     "smplx": 0.92
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.5,
+      "p90": 12.9
+     },
+     "registered": {
+      "median": 10.2,
+      "p90": 13.1
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:53:42.956066+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/LM11/session_032",
   "family": "locomanipulation",
   "primitive": "LM11",
   "source_session": "20261015/LM11/20261015_083032_session26"
  },
+ "task": {
+  "primitive": "LM11",
+  "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
+ },
  "objects": [
   {
    "name": "LittleBox1",

actions/locomanipulation/LM11/session_032/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2335cd9114c248eeccaa0f0f2243aa36d0774c25c642df8ac01c2ae0d3954ef2
+size 3564717

actions/locomanipulation/LM11/session_032/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1fc3ac7e00831cf2eca4bce49988c32355cdf68d191504adc09048b14e252bbb
-size 5738361
+oid sha256:e8dc194defa546bcef2145d5fc76b1d22a7fd2e6930c8d1725c27ca6e323e050
+size 9631116

actions/locomanipulation/LM11/session_033/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": "LM11",
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 120.766667,
+   "video": "left_eye",
+   "video_t_start": 0.03954809876630658
+  }
+ ],
+ "episodes": [
+  {
+   "id": "ec5ba44a-82d5-429a-b16a-21fb38f48e6f",
+   "segment": "segment1",
+   "action": "LM11",
+   "quality": "valid",
+   "start_s": 3.468,
+   "end_s": 118.746,
+   "t_start": 3.5075,
+   "t_end": 118.7855,
+   "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
+  }
+ ]
+}

actions/locomanipulation/LM11/session_033/cameras/gsi_online_calibration.json

@@ -0,0 +1,263 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 153,
+    "median_px": 9.52,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.473
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 2.705,
+   "gate_fail": [],
+   "held_out_px_after": 0.657,
+   "held_out_px_before": 12.052,
+   "inliers": 1837,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.1813,
+    -1.4369,
+    0.7028
+   ],
+   "split_deg": 0.2116,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.9029,
+   "gate_fail": [],
+   "held_out_px_after": 1.052,
+   "held_out_px_before": 3.866,
+   "inliers": 2590,
+   "position_fitted": true,
+   "position_mm": [
+    3.87,
+    -19.22,
+    4.0
+   ],
+   "position_sigma_mm": 0.209,
+   "position_split_mm": 3.683,
+   "rotvec_deg": [
+    -0.0334,
+    -0.4262,
+    0.7953
+   ],
+   "split_deg": 0.1258,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.3772,
+   "gate_fail": [],
+   "held_out_px_after": 0.546,
+   "held_out_px_before": 7.487,
+   "inliers": 2321,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.9575,
+    -1.1098,
+    2.5183
+   ],
+   "split_deg": 0.0834,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9652,
+   "gate_fail": [],
+   "held_out_px_after": 0.472,
+   "held_out_px_before": 6.261,
+   "inliers": 4558,
+   "position_fitted": true,
+   "position_mm": [
+    -2.86,
+    -15.15,
+    4.63
+   ],
+   "position_sigma_mm": 0.183,
+   "position_split_mm": 1.077,
+   "rotvec_deg": [
+    0.5058,
+    -0.9595,
+    1.6387
+   ],
+   "split_deg": 0.0126,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.01,
+   "gate_fail": [],
+   "held_out_px_after": 0.399,
+   "held_out_px_before": 6.378,
+   "inliers": 5847,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.8693,
+    -0.4033,
+    -0.319
+   ],
+   "split_deg": 0.0078,
+   "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": "53064e3ac3acda0d08887b31ae592ca32742fb0a04d46ab2a96c6014ab2dbbe8",
+   "source_sha256": "2bf43346f9825da1c051096d46ceb924252959c0c3fed4ac9c166c6096121ae0"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "9a9c07456fb5245b82007fa3662d5d70b3d614735817a30bc9e2d5100b0619cf",
+   "source_sha256": "b80f390816142bc598f6a58e17810083d07270f17802c79b0d33dade12e1a7ed"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "c75f5273cea50669909111dc8537121e1ed6736d9f5aaeebc61daecec1ea8d00",
+   "source_sha256": "55ee2a9af25410709c73762b726e1a41e5450b277090a5256571601dd5fd719b"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "28be5fa574102d730d94a322c7d4221c6b6ee72c0eabab978eee6ca1954b08b6",
+   "source_sha256": "b2fcef709086e19cb082ae12586aebd1a6fa9a92db90015c1c5a641f4588dfc7"
+  }
+ },
+ "input_fingerprint": "1da35afc7c92145f",
+ "kind": "online_calibration",
+ "output_sha256": "9f8289e9890a35c0489bc75ff89b51c16b8c67f3efbcbf15f69b42a216a6b297",
+ "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": 35.359,
+  "left_eye": 30.661,
+  "left_front": 39.19,
+  "right": 35.407,
+  "right_eye": 31.673,
+  "right_front": 38.706
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   7364020526111,
+   7365020415000,
+   7367020426111,
+   7368020526111,
+   7373020415000,
+   7374020426111,
+   7375020526111,
+   7379020448333,
+   7380020481666,
+   7382020548333,
+   7383020415000,
+   7388020415000,
+   7389020548333,
+   7393020437222,
+   7394020481666,
+   7395020448333,
+   7400020448333,
+   7401020415000,
+   7403020415000,
+   7404020415000,
+   7408020537222,
+   7409020437222,
+   7410020437222,
+   7415020437222,
+   7416020437222,
+   7417020415000,
+   7418020415000,
+   7422020415000,
+   7423020415000,
+   7425020437222,
+   7426020415000,
+   7431020481666,
+   7432020415000,
+   7436020415000,
+   7437020437222,
+   7438020437222,
+   7443020415000,
+   7444020415000,
+   7446020437222,
+   7447020548333,
+   7451020437222,
+   7452020437222,
+   7453020448333,
+   7459020481666,
+   7460020415000,
+   7461020548333,
+   7462020437222,
+   7466020403888,
+   7467020481666,
+   7468020437222,
+   7469020437222,
+   7474020415000,
+   7475020481666,
+   7478020437222,
+   7479020481666
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM11/session_033/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7671b0e2c4dfd3ba47c9550af25a577c0d172b57a4144b7ab523f856b417c014
+size 695304

actions/locomanipulation/LM11/session_033/meta.json

@@ -383,8 +383,8 @@
   "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": {
@@ -570,12 +570,126 @@
   },
   "applied": 2
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 43.82,
+    "offset_rotvec": [
+     0.681,
+     0.0755,
+     0.3398
+    ],
+    "dev_deg": {
+     "median": 35.35,
+     "p90": 58.88
+    },
+    "samples": 1895,
+    "accepted": 749,
+    "wrist_pos_err_mm_median": 180.7,
+    "per_camera": {
+     "head": {
+      "samples": 1895,
+      "accepted": 749,
+      "gate_deg": 30.0,
+      "offset_deg": 43.82,
+      "tier": "primary",
+      "dev_deg_median": 35.35,
+      "wrist_pos_err_mm_median": 180.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 3056,
+     "interpolated": 2348,
+     "mean_hand": 9089,
+     "no_body_fit": 7
+    },
+    "observed_fraction": 0.3727,
+    "observed_fraction_of_valid": 0.3729,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 46.83,
+     "smplx": NaN
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": NaN,
+      "p90": NaN
+     },
+     "registered": {
+      "median": NaN,
+      "p90": NaN
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 30.16,
+    "offset_rotvec": [
+     0.0981,
+     -0.426,
+     -0.2932
+    ],
+    "dev_deg": {
+     "median": 21.91,
+     "p90": 44.45
+    },
+    "samples": 2652,
+    "accepted": 1847,
+    "wrist_pos_err_mm_median": 163.7,
+    "per_camera": {
+     "head": {
+      "samples": 2652,
+      "accepted": 1847,
+      "gate_deg": 30.0,
+      "offset_deg": 30.16,
+      "tier": "primary",
+      "dev_deg_median": 21.91,
+      "wrist_pos_err_mm_median": 163.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 7716,
+     "interpolated": 5416,
+     "mean_hand": 1361,
+     "no_body_fit": 7
+    },
+    "observed_fraction": 0.9057,
+    "observed_fraction_of_valid": 0.9061,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 38.66,
+     "smplx": 0.56
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.2,
+      "p90": 10.7
+     },
+     "registered": {
+      "median": 9.6,
+      "p90": 10.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:53:42.417760+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/LM11/session_033",
   "family": "locomanipulation",
   "primitive": "LM11",
   "source_session": "20261015/LM11/20261015_083250_session27"
  },
+ "task": {
+  "primitive": "LM11",
+  "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
+ },
  "objects": [
   {
    "name": "LittleBox1",