Release update 2026-11-05: new sessions, instructions, annotations (part 142)

.gitattributes

@@ -47638,3 +47638,39 @@ actions/locomanipulation/LM73/session_026/raw/sensors/robowrist_mag_left.db filt
 actions/locomanipulation/LM73/session_026/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM73/session_027/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM73/session_027/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM73/session_027/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM73/session_027/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM73/session_027/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM73/session_027/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM73/session_027/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM73/session_027/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM73/session_027/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM74/session_025/raw/mocap/01p1-Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM74/session_025/raw/mocap/01p1-Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM74/session_025/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM74/session_025/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM74/session_025/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM74/session_025/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM74/session_025/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM74/session_025/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM74/session_025/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM74/session_026/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM74/session_026/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM74/session_026/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM74/session_026/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM74/session_026/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM74/session_026/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM74/session_026/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM74/session_026/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM74/session_026/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM74/session_027/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM74/session_027/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM74/session_027/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM74/session_027/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM74/session_027/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM74/session_027/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM74/session_027/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM74/session_027/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM74/session_027/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM75/session_006/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM75/session_006/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text

actions/locomanipulation/LM73/session_027/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ccfbfff05029f9b91635decec8ec47da7ee7d33c8592ffbc1faf93262a84cc1
+size 1503232

actions/locomanipulation/LM73/session_027/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4de7b29c71c05655d9dfac41924ceaabd968ff9d28d293dbf06dff6c7d76487
+size 1449984

actions/locomanipulation/LM73/session_027/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5396d58ddf837c7c6e991ff6f31b7873fc4408494e2e3eb7fc98b3a8091383b
+size 389120

actions/locomanipulation/LM73/session_027/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a92a6345532e0c9e07f599108286c578c331a4348f80fe5adc5ad5e69d8c003d
+size 1458176

actions/locomanipulation/LM73/session_027/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca6db58b8a92d6acd6ae4414bdb3c758f48174636484f682fbdb33019d21db41
+size 1466368

actions/locomanipulation/LM73/session_027/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e01ed539f18297ef059298f378adbffb92a4a5227c3535e103987336bb8c73d4
+size 372736

actions/locomanipulation/LM73/session_027/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45f1f9d6916bc23ac3846f31fc2acf87c49b07d6f3f7e5602029cbd5456851b2
+size 372736

actions/locomanipulation/LM73/session_027/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9bc9040e8b70fa715a22445cc23869b4e68cfdd4d42e378de66282894f59562
+size 1464264

actions/locomanipulation/LM73/session_027/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccf3794c6beb4812c59fca72580a8c303342619a235a031e3ad7d82d0e603bf1
+size 175319

actions/locomanipulation/LM73/session_027/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:baf82bd7719e2b8cb63bc4fd73c3b61a45f324f464f1102678248aa8225b89de
+size 1566485

actions/locomanipulation/LM73/session_027/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c1daf0f4885950bb57f3d05f37b8a190b5706dc2bc3c0b0143f5ca563854d5c
+size 311987

actions/locomanipulation/LM73/session_027/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c335bdd0e6e4af44ef1e8d1875d94c6335e7c2fdf873179c1c43684c63a86e5
+size 284950

actions/locomanipulation/LM73/session_027/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3052b1e7fd102ff6b54ae7d0461abb48ef42cef9d0ec27ca418527a940b14ebc
+size 72748265

actions/locomanipulation/LM73/session_027/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1331355a9973a1d369dc62bdc012f28c6e0a591bedc752ecda689b49b9a708f
+size 72678311

actions/locomanipulation/LM73/session_027/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6058ff73dfa831e2644c1c9158bc73a2583008709844aec240f1bed321bc0769
+size 72786840

actions/locomanipulation/LM73/session_027/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83d19cfa6f7c2be33aefd4f3cfa6142840d92dfafa8eef731c5a8ebc1750fa51
+size 72798902

actions/locomanipulation/LM73/session_027/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51c784b83df2a060d212190cdd2c194088883ccf11d63fe77687b1d2301cabaa
+size 72690492

actions/locomanipulation/LM73/session_027/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25124c92bde0c55de9a71c2ce95ae94e634e8a7e549ff5876e4a622c4eaeedb6
+size 72809473

actions/locomanipulation/LM73/session_027/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5392754dbcc2bde629d1956e7136ed79f9aa50331f4ad165e4f06233799d0013
+size 63800929

actions/locomanipulation/LM73/session_027/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14d797395ae3f9cf7039b248d28c017c6a627a66834fbef6f3a1deb04bb8b3e9
+size 68395410

actions/locomanipulation/LM73/session_027/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3118eb5107d707ea29024b264a43d4387c68290aee26f8f9d4fd4415293610c0
+size 68530742

actions/locomanipulation/LM74/session_001/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": "LM74",
+ "instruction": "Carry the bag and, while walking, undo the buckle or zip, then do it up again. Keep repeating as you walk. Do not stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 113.966556,
+   "video": "left_eye",
+   "video_t_start": 0.03911568104672902
+  }
+ ],
+ "episodes": [
+  {
+   "id": "d61aa215-5fc4-4958-97b3-eda48d83d05f",
+   "segment": "segment1",
+   "action": "LM74",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 110.474,
+   "t_start": 0.0391,
+   "t_end": 110.5131,
+   "instruction": "Carry the bag and, while walking, undo the buckle or zip, then do it up again. Keep repeating as you walk. Do not stop."
+  }
+ ]
+}

actions/locomanipulation/LM74/session_001/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da6cd8578bc9f1952110f38aeb5b3e5cb953e2c2d9916ea0e0aaf909118ba0ea
+size 655366

actions/locomanipulation/LM74/session_001/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": {
@@ -508,10 +508,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.0453759058597087
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 13.6,
+    "offset_rotvec": [
+     0.068,
+     0.1989,
+     -0.1102
+    ],
+    "dev_deg": {
+     "median": 10.77,
+     "p90": 18.64
+    },
+    "samples": 3282,
+    "accepted": 3197,
+    "wrist_pos_err_mm_median": 53.0,
+    "per_camera": {
+     "head": {
+      "samples": 3282,
+      "accepted": 3197,
+      "gate_deg": 30.0,
+      "offset_deg": 13.6,
+      "tier": "primary",
+      "dev_deg_median": 10.77,
+      "wrist_pos_err_mm_median": 53.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12796,
+     "interpolated": 80,
+     "mean_hand": 534,
+     "no_body_fit": 274
+    },
+    "observed_fraction": 0.941,
+    "observed_fraction_of_valid": 0.9602,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 15.84,
+     "smplx": 1.76
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.9,
+      "p90": 8.6
+     },
+     "registered": {
+      "median": 7.4,
+      "p90": 9.3
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 9.74,
+    "offset_rotvec": [
+     0.0542,
+     0.0115,
+     0.1608
+    ],
+    "dev_deg": {
+     "median": 8.32,
+     "p90": 17.55
+    },
+    "samples": 3264,
+    "accepted": 3223,
+    "wrist_pos_err_mm_median": 70.5,
+    "per_camera": {
+     "head": {
+      "samples": 3264,
+      "accepted": 3223,
+      "gate_deg": 30.0,
+      "offset_deg": 9.74,
+      "tier": "primary",
+      "dev_deg_median": 8.32,
+      "wrist_pos_err_mm_median": 70.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12896,
+     "interpolated": 112,
+     "mean_hand": 402,
+     "no_body_fit": 274
+    },
+    "observed_fraction": 0.9506,
+    "observed_fraction_of_valid": 0.97,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 9.25,
+     "smplx": 2.14
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.5,
+      "p90": 10.5
+     },
+     "registered": {
+      "median": 6.6,
+      "p90": 9.9
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T16:34:07.230162+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/LM74/session_001",
   "family": "locomanipulation",
   "primitive": "LM74",
   "source_session": "20260910/LM74/20260910_052122_session96"
+ },
+ "task": {
+  "primitive": "LM74",
+  "instruction": "Carry the bag and, while walking, undo the buckle or zip, then do it up again. Keep repeating as you walk. Do not stop."
  }
 }

actions/locomanipulation/LM74/session_001/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71094fa0c1fc116d9301d601c55fb62e1dd0c86def62a957621f2832c469e98a
+size 4531345

actions/locomanipulation/LM74/session_001/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4c57c5e417430aee8011629d7f37a9ef6985c3e8678e47581536d58f3e39b42b
-size 5177826
+oid sha256:cf1f33a6263ca9cf20fea72fe1eabc76f50716868f0e526f98328c3165763611
+size 9544493

actions/locomanipulation/LM74/session_002/annotations.json

@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "LM74",
+ "instruction": "Carry the bag and, while walking, undo the buckle or zip, then do it up again. Keep repeating as you walk. Do not stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 118.966722,
+   "video": "left_eye",
+   "video_t_start": 0.03864762601462357
+  }
+ ],
+ "episodes": [
+  {
+   "id": "a170d7b7-c7ab-4b54-a5b2-5b917b663dea",
+   "segment": "segment1",
+   "action": "LM74",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 113,
+   "t_start": 0.0386,
+   "t_end": 113.0386,
+   "instruction": "Carry the bag and, while walking, undo the buckle or zip, then do it up again. Keep repeating as you walk. Do not stop."
+  }
+ ]
+}

actions/locomanipulation/LM74/session_002/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57dd64322d7ec367c1cb622c18aa1961c0c4e5295b44e316c6ebe0fe6eb57f6b
+size 684746

actions/locomanipulation/LM74/session_002/meta.json

@@ -329,8 +329,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -510,10 +510,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.2269207017817156
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 19.31,
+    "offset_rotvec": [
+     0.1471,
+     0.2865,
+     -0.0992
+    ],
+    "dev_deg": {
+     "median": 8.76,
+     "p90": 18.39
+    },
+    "samples": 3497,
+    "accepted": 3342,
+    "wrist_pos_err_mm_median": 71.1,
+    "per_camera": {
+     "head": {
+      "samples": 3497,
+      "accepted": 3342,
+      "gate_deg": 30.0,
+      "offset_deg": 19.31,
+      "tier": "primary",
+      "dev_deg_median": 8.76,
+      "wrist_pos_err_mm_median": 71.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13382,
+     "interpolated": 238,
+     "mean_hand": 664,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9535,
+    "observed_fraction_of_valid": 0.9535,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 20.57,
+     "smplx": 1.76
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.9,
+      "p90": 8.6
+     },
+     "registered": {
+      "median": 7.7,
+      "p90": 9.2
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 9.67,
+    "offset_rotvec": [
+     0.0499,
+     0.1068,
+     0.1207
+    ],
+    "dev_deg": {
+     "median": 8.7,
+     "p90": 18.45
+    },
+    "samples": 3396,
+    "accepted": 3293,
+    "wrist_pos_err_mm_median": 117.5,
+    "per_camera": {
+     "head": {
+      "samples": 3396,
+      "accepted": 3293,
+      "gate_deg": 30.0,
+      "offset_deg": 9.67,
+      "tier": "primary",
+      "dev_deg_median": 8.7,
+      "wrist_pos_err_mm_median": 117.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13212,
+     "interpolated": 556,
+     "mean_hand": 516,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9639,
+    "observed_fraction_of_valid": 0.9639,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 9.29,
+     "smplx": 1.67
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.4,
+      "p90": 9.6
+     },
+     "registered": {
+      "median": 7.6,
+      "p90": 9.8
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T16:34:08.821368+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/LM74/session_002",
   "family": "locomanipulation",
   "primitive": "LM74",
   "source_session": "20260910/LM74/20260910_052408_session97"
+ },
+ "task": {
+  "primitive": "LM74",
+  "instruction": "Carry the bag and, while walking, undo the buckle or zip, then do it up again. Keep repeating as you walk. Do not stop."
  }
 }

actions/locomanipulation/LM74/session_002/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cb2546a4a780dc8c5728eb50c05722f9a8883c09c0318c3bc9516e1e3a3b3bd
+size 4673693

actions/locomanipulation/LM74/session_002/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:9dbc8820036598cfffbef9675524b6ec4fda967e2bfc5da6f88ed02ce9a19454
-size 5506872
+oid sha256:edf5d9779ca0ae3fa5008845dd35c198c672f4608fe3412c70b54ec6c5bc3694
+size 10141942

actions/locomanipulation/LM74/session_003/annotations.json

@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "LM74",
+ "instruction": "Carry the bag and, while walking, undo the buckle or zip, then do it up again. Keep repeating as you walk. Do not stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 118.966544,
+   "video": "left_eye",
+   "video_t_start": 0.039022128244228904
+  }
+ ],
+ "episodes": [
+  {
+   "id": "3bac12c4-fe8d-48eb-bb71-73912cc4268c",
+   "segment": "segment1",
+   "action": "LM74",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 114.907,
+   "t_start": 0.039,
+   "t_end": 114.946,
+   "instruction": "Carry the bag and, while walking, undo the buckle or zip, then do it up again. Keep repeating as you walk. Do not stop."
+  }
+ ]
+}

actions/locomanipulation/LM74/session_003/cameras/gsi_online_calibration.json

@@ -0,0 +1,256 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.432
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.1483,
+   "gate_fail": [],
+   "held_out_px_after": 0.53,
+   "held_out_px_before": 4.05,
+   "inliers": 2878,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.6788,
+    -0.2,
+    -0.9044
+   ],
+   "split_deg": 0.0962,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.7371,
+   "gate_fail": [],
+   "held_out_px_after": 0.432,
+   "held_out_px_before": 6.181,
+   "inliers": 3809,
+   "position_fitted": true,
+   "position_mm": [
+    5.74,
+    -18.54,
+    4.74
+   ],
+   "position_sigma_mm": 0.191,
+   "position_split_mm": 1.497,
+   "rotvec_deg": [
+    0.1721,
+    0.6693,
+    -1.5937
+   ],
+   "split_deg": 0.0308,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.7177,
+   "gate_fail": [],
+   "held_out_px_after": 0.862,
+   "held_out_px_before": 6.825,
+   "inliers": 1429,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.5633,
+    -0.2278,
+    0.6742
+   ],
+   "split_deg": 0.0866,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.606,
+   "gate_fail": [],
+   "held_out_px_after": 0.413,
+   "held_out_px_before": 3.943,
+   "inliers": 4291,
+   "position_fitted": true,
+   "position_mm": [
+    5.53,
+    -20.35,
+    4.31
+   ],
+   "position_sigma_mm": 0.168,
+   "position_split_mm": 0.528,
+   "rotvec_deg": [
+    0.3716,
+    -0.3687,
+    -0.3054
+   ],
+   "split_deg": 0.0185,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.152,
+   "gate_fail": [],
+   "held_out_px_after": 0.376,
+   "held_out_px_before": 4.596,
+   "inliers": 4484,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2624,
+    0.0214,
+    -1.1215
+   ],
+   "split_deg": 0.0142,
+   "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": "0dd2ad8221b19208598b7c58d9647af08255b80cd5f79a091ef1da102fd64c6d",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "7c4e9d95a10146f030dfe5cf9ddd0816db904697ecc789c1b38aed427a428bf1",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "2ee85d3fcd84808c38f78da801090b6af66f43b1bcf19fc1c63ef6b06a9ff725",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "76e95fc8ebe06bb3d2026738ad7462b453aced6b5d8d1f6a0873be75e98bd674",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "f409ba50b8b05108",
+ "kind": "online_calibration",
+ "output_sha256": "5c4bc3ac44787804a8b1ba8cddf57b01944aa73454a22c9180b1185f3020a246",
+ "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": 35.117,
+  "left_eye": 30.134,
+  "left_front": 35.536,
+  "right": 42.867,
+  "right_eye": 30.794,
+  "right_front": 33.894
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   42088454805888,
+   42089454794777,
+   42093454805888,
+   42094454805888,
+   42095454794777,
+   42098454805888,
+   42099454817000,
+   42104454817000,
+   42105454805888,
+   42107454794777,
+   42108454805888,
+   42112454805888,
+   42113454805888,
+   42114454817000,
+   42115454794777,
+   42120454850333,
+   42121454805888,
+   42123454805888,
+   42124454805888,
+   42127454805888,
+   42128454794777,
+   42132454817000,
+   42133454805888,
+   42136454805888,
+   42137454805888,
+   42140454805888,
+   42141454805888,
+   42142454805888,
+   42144454817000,
+   42145454817000,
+   42148454850333,
+   42149454817000,
+   42154454872555,
+   42155454805888,
+   42159454883666,
+   42160454928111,
+   42162454805888,
+   42163454805888,
+   42164454805888,
+   42165454805888,
+   42168454783666,
+   42169454794777,
+   42173454817000,
+   42174454794777,
+   42177454805888,
+   42178454928111,
+   42180454805888,
+   42181454805888,
+   42184454794777,
+   42185454794777,
+   42189454805888,
+   42190454850333,
+   42192454805888,
+   42193454772555,
+   42198454817000,
+   42199454805888,
+   42200454894777
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM74/session_003/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc2f91cba561e377fee25b8c233fbd27d8f268ede4a6f79b26d253896477fe30
+size 684006

actions/locomanipulation/LM74/session_003/meta.json

@@ -322,8 +322,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -514,10 +514,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.9398692092965658
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 34.92,
+    "offset_rotvec": [
+     0.1411,
+     0.5845,
+     -0.0994
+    ],
+    "dev_deg": {
+     "median": 10.34,
+     "p90": 18.47
+    },
+    "samples": 3514,
+    "accepted": 3383,
+    "wrist_pos_err_mm_median": 32.6,
+    "per_camera": {
+     "head": {
+      "samples": 3514,
+      "accepted": 3383,
+      "gate_deg": 30.0,
+      "offset_deg": 34.92,
+      "tier": "primary",
+      "dev_deg_median": 10.34,
+      "wrist_pos_err_mm_median": 32.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13534,
+     "interpolated": 70,
+     "mean_hand": 674,
+     "no_body_fit": 6
+    },
+    "observed_fraction": 0.9524,
+    "observed_fraction_of_valid": 0.9528,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 34.73,
+     "smplx": 0.95
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.2,
+      "p90": 8.8
+     },
+     "registered": {
+      "median": 7.3,
+      "p90": 10.3
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 7.35,
+    "offset_rotvec": [
+     0.0883,
+     -0.0356,
+     0.086
+    ],
+    "dev_deg": {
+     "median": 6.29,
+     "p90": 12.09
+    },
+    "samples": 3486,
+    "accepted": 3418,
+    "wrist_pos_err_mm_median": 23.3,
+    "per_camera": {
+     "head": {
+      "samples": 3486,
+      "accepted": 3418,
+      "gate_deg": 30.0,
+      "offset_deg": 7.35,
+      "tier": "primary",
+      "dev_deg_median": 6.29,
+      "wrist_pos_err_mm_median": 23.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13688,
+     "interpolated": 388,
+     "mean_hand": 202,
+     "no_body_fit": 6
+    },
+    "observed_fraction": 0.9854,
+    "observed_fraction_of_valid": 0.9859,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 9.62,
+     "smplx": 1.31
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.1,
+      "p90": 15.5
+     },
+     "registered": {
+      "median": 9.3,
+      "p90": 14.6
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T16:34:17.821594+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/LM74/session_003",
   "family": "locomanipulation",
   "primitive": "LM74",
   "source_session": "20260910/LM74/20260910_120603_session203"
+ },
+ "task": {
+  "primitive": "LM74",
+  "instruction": "Carry the bag and, while walking, undo the buckle or zip, then do it up again. Keep repeating as you walk. Do not stop."
  }
 }

actions/locomanipulation/LM74/session_003/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0377cc1ddec24d2d6b42dbbaf6fece1737d8d9060550e470cb2f1a829234e093
+size 4724931

actions/locomanipulation/LM74/session_003/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a78a8a08e25bd30d2fac1aefb50dda04f4a970b616e578b6b95b4d80150fe7ff
-size 5510334
+oid sha256:9e0fa9a1210c9947d42f3eeeea30bf2b571de7e9ef61d46f540cfbd633a624bf
+size 10174519

actions/locomanipulation/LM74/session_004/annotations.json

@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "LM74",
+ "instruction": "Carry the bag and, while walking, undo the buckle or zip, then do it up again. Keep repeating as you walk. Do not stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 118.966544,
+   "video": "left_eye",
+   "video_t_start": 0.03915705400800862
+  }
+ ],
+ "episodes": [
+  {
+   "id": "7099b228-49b3-4d4a-848d-3decdd3aeab0",
+   "segment": "segment1",
+   "action": "LM74",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 117,
+   "t_start": 0.0392,
+   "t_end": 117.0392,
+   "instruction": "Carry the bag and, while walking, undo the buckle or zip, then do it up again. Keep repeating as you walk. Do not stop."
+  }
+ ]
+}

actions/locomanipulation/LM74/session_004/cameras/gsi_online_calibration.json

@@ -0,0 +1,257 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.433
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.1088,
+   "gate_fail": [],
+   "held_out_px_after": 0.502,
+   "held_out_px_before": 3.998,
+   "inliers": 2853,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.6291,
+    -0.2364,
+    -0.8819
+   ],
+   "split_deg": 0.0507,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.6972,
+   "gate_fail": [],
+   "held_out_px_after": 0.447,
+   "held_out_px_before": 6.221,
+   "inliers": 4099,
+   "position_fitted": true,
+   "position_mm": [
+    5.85,
+    -18.74,
+    4.69
+   ],
+   "position_sigma_mm": 0.195,
+   "position_split_mm": 0.538,
+   "rotvec_deg": [
+    0.115,
+    0.6497,
+    -1.5636
+   ],
+   "split_deg": 0.0275,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.4936,
+   "gate_fail": [],
+   "held_out_px_after": 0.907,
+   "held_out_px_before": 5.92,
+   "inliers": 1461,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.3417,
+    -0.1478,
+    0.6395
+   ],
+   "split_deg": 0.233,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.5817,
+   "gate_fail": [],
+   "held_out_px_after": 0.397,
+   "held_out_px_before": 4.007,
+   "inliers": 4437,
+   "position_fitted": true,
+   "position_mm": [
+    5.32,
+    -19.73,
+    5.25
+   ],
+   "position_sigma_mm": 0.199,
+   "position_split_mm": 0.323,
+   "rotvec_deg": [
+    0.3224,
+    -0.3995,
+    -0.2737
+   ],
+   "split_deg": 0.0215,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.148,
+   "gate_fail": [],
+   "held_out_px_after": 0.374,
+   "held_out_px_before": 4.605,
+   "inliers": 4446,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2663,
+    -0.0005,
+    -1.1167
+   ],
+   "split_deg": 0.0132,
+   "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": "7726b41a83948aa2b5d968d528b20a0d8b855d3de2b369254fb14b8fb02c51aa",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "9d577d8fd35a46055366b13f274f6ab89b94904c44834214d67770b509a41028",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "5253aed86819e2312465aebe1c2bdc0fbe93af49608b2952b58b003d510b298b",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "2dac2d83daa3a89c98e6980f58b104c0f7b6f4361a5e3beeb3f7fcc250d3a776",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "baf3bd1c8a63c795",
+ "kind": "online_calibration",
+ "output_sha256": "bc5f8a627601a91dffaf514b0e8aa764ab8a1b9374eaf3e456a678177071d450",
+ "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": 38.582,
+  "left_eye": 31.316,
+  "left_front": 35.939,
+  "right": 43.603,
+  "right_eye": 32.606,
+  "right_front": 35.907
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   42224395295000,
+   42225395295000,
+   42231395283888,
+   42232395250555,
+   42233395272777,
+   42236395283888,
+   42237395295000,
+   42243395283888,
+   42244395283888,
+   42245395283888,
+   42246395283888,
+   42248395272777,
+   42249395283888,
+   42254395428333,
+   42255395283888,
+   42256395295000,
+   42257395283888,
+   42262395283888,
+   42263395272777,
+   42264395272777,
+   42269395295000,
+   42270395272777,
+   42271395283888,
+   42272395295000,
+   42276395283888,
+   42277395272777,
+   42280395439444,
+   42281395283888,
+   42284395406111,
+   42285395283888,
+   42288395283888,
+   42289395272777,
+   42292395283888,
+   42293395283888,
+   42294395272777,
+   42295395283888,
+   42300395295000,
+   42301395283888,
+   42303395283888,
+   42304395295000,
+   42308395306111,
+   42309395283888,
+   42310395306111,
+   42311395283888,
+   42315395283888,
+   42316395283888,
+   42318395283888,
+   42319395283888,
+   42322395283888,
+   42323395272777,
+   42327395283888,
+   42328395261666,
+   42332395272777,
+   42333395283888,
+   42334395272777,
+   42335395283888,
+   42337395295000,
+   42338395283888
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM74/session_004/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93f0fdd3d6d95f38f42a16d742445b19ecc4440f95edf0bc828d94f698a34989
+size 684428

actions/locomanipulation/LM74/session_004/meta.json

@@ -327,8 +327,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -514,10 +514,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.2329866632348692
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 35.77,
+    "offset_rotvec": [
+     0.1649,
+     0.5657,
+     -0.2064
+    ],
+    "dev_deg": {
+     "median": 14.15,
+     "p90": 22.84
+    },
+    "samples": 3515,
+    "accepted": 3379,
+    "wrist_pos_err_mm_median": 25.2,
+    "per_camera": {
+     "head": {
+      "samples": 3515,
+      "accepted": 3379,
+      "gate_deg": 30.0,
+      "offset_deg": 35.77,
+      "tier": "primary",
+      "dev_deg_median": 14.15,
+      "wrist_pos_err_mm_median": 25.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13532,
+     "interpolated": 248,
+     "mean_hand": 502,
+     "no_body_fit": 2
+    },
+    "observed_fraction": 0.9647,
+    "observed_fraction_of_valid": 0.9649,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 35.49,
+     "smplx": 1.71
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.9,
+      "p90": 13.8
+     },
+     "registered": {
+      "median": 9.4,
+      "p90": 12.2
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 8.27,
+    "offset_rotvec": [
+     0.0878,
+     -0.0424,
+     0.1065
+    ],
+    "dev_deg": {
+     "median": 5.99,
+     "p90": 11.89
+    },
+    "samples": 3500,
+    "accepted": 3478,
+    "wrist_pos_err_mm_median": 20.4,
+    "per_camera": {
+     "head": {
+      "samples": 3500,
+      "accepted": 3478,
+      "gate_deg": 30.0,
+      "offset_deg": 8.27,
+      "tier": "primary",
+      "dev_deg_median": 5.99,
+      "wrist_pos_err_mm_median": 20.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13922,
+     "interpolated": 190,
+     "mean_hand": 170,
+     "no_body_fit": 2
+    },
+    "observed_fraction": 0.988,
+    "observed_fraction_of_valid": 0.9881,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 8.81,
+     "smplx": 1.17
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 13.4,
+      "p90": 17.3
+     },
+     "registered": {
+      "median": 12.8,
+      "p90": 16.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T16:34:28.022762+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/LM74/session_004",
   "family": "locomanipulation",
   "primitive": "LM74",
   "source_session": "20260910/LM74/20260910_120820_session204"
+ },
+ "task": {
+  "primitive": "LM74",
+  "instruction": "Carry the bag and, while walking, undo the buckle or zip, then do it up again. Keep repeating as you walk. Do not stop."
  }
 }

actions/locomanipulation/LM74/session_004/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32c49794307ae5fcc2e4770efc2ed606d70c95aba05dd4fdbad004eae6095e37
+size 4739237

actions/locomanipulation/LM74/session_004/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e1acf38af54241a650833f768520fa85e22743692136d1b83b1ada95d774d5ad
-size 5503176
+oid sha256:24537912725344e76f076056b651e87782e096256f1b86f8320c19bdeea8311a
+size 10207928

actions/locomanipulation/LM74/session_005/annotations.json

@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "LM74",
+ "instruction": "Carry the bag and, while walking, undo the buckle or zip, then do it up again. Keep repeating as you walk. Do not stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 118.966667,
+   "video": "left_eye",
+   "video_t_start": 0.039042339078036115
+  }
+ ],
+ "episodes": [
+  {
+   "id": "f43f89d8-0d6b-4324-944d-284f1bb8a38f",
+   "segment": "segment1",
+   "action": "LM74",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 116.12,
+   "t_start": 0.039,
+   "t_end": 116.159,
+   "instruction": "Carry the bag and, while walking, undo the buckle or zip, then do it up again. Keep repeating as you walk. Do not stop."
+  }
+ ]
+}

actions/locomanipulation/LM74/session_005/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b0ad4657c6349eec0787886abf2725c24a29e5f84c7f2dc5134ac7824338dda
+size 686519

actions/locomanipulation/LM74/session_005/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": {
@@ -507,10 +507,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.7377762290357689
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 13.0,
+    "offset_rotvec": [
+     0.2022,
+     -0.0194,
+     -0.1012
+    ],
+    "dev_deg": {
+     "median": 14.68,
+     "p90": 28.96
+    },
+    "samples": 3479,
+    "accepted": 3149,
+    "wrist_pos_err_mm_median": 65.6,
+    "per_camera": {
+     "head": {
+      "samples": 3479,
+      "accepted": 3149,
+      "gate_deg": 30.0,
+      "offset_deg": 13.0,
+      "tier": "primary",
+      "dev_deg_median": 14.68,
+      "wrist_pos_err_mm_median": 65.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12629,
+     "interpolated": 862,
+     "mean_hand": 701,
+     "no_body_fit": 92
+    },
+    "observed_fraction": 0.9445,
+    "observed_fraction_of_valid": 0.9506,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 20.98,
+     "smplx": 2.6
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 11.6,
+      "p90": 20.8
+     },
+     "registered": {
+      "median": 11.4,
+      "p90": 19.6
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 20.53,
+    "offset_rotvec": [
+     0.1625,
+     -0.3169,
+     0.0402
+    ],
+    "dev_deg": {
+     "median": 10.42,
+     "p90": 18.82
+    },
+    "samples": 3498,
+    "accepted": 3417,
+    "wrist_pos_err_mm_median": 45.7,
+    "per_camera": {
+     "head": {
+      "samples": 3498,
+      "accepted": 3417,
+      "gate_deg": 30.0,
+      "offset_deg": 20.53,
+      "tier": "primary",
+      "dev_deg_median": 10.42,
+      "wrist_pos_err_mm_median": 45.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13667,
+     "interpolated": 114,
+     "mean_hand": 411,
+     "no_body_fit": 92
+    },
+    "observed_fraction": 0.9648,
+    "observed_fraction_of_valid": 0.971,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 21.95,
+     "smplx": 0.98
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 17.9,
+      "p90": 29.5
+     },
+     "registered": {
+      "median": 17.8,
+      "p90": 28.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:51:09.882310+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/LM74/session_005",
   "family": "locomanipulation",
   "primitive": "LM74",
   "source_session": "20260920/LM74/20260920_033818_session12"
+ },
+ "task": {
+  "primitive": "LM74",
+  "instruction": "Carry the bag and, while walking, undo the buckle or zip, then do it up again. Keep repeating as you walk. Do not stop."
  }
 }

actions/locomanipulation/LM74/session_005/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80fcc4acfe1a1d5bdfb511c9336e570fb87f735bb554ee4a13d5d11ea926efcf
+size 4714704

actions/locomanipulation/LM74/session_005/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:fda19b84e03341e1d2aec972d8d1bbb3cf19bc7bc8d4023847344a20439440ce
-size 5489481
+oid sha256:48735c6c57959fecd30a155dfb5ce35ae54227d344ed9302d2fc10fd6b65ae9a
+size 10091398