Release update 2026-11-05: 5760 sessions, instructions, annotations (part 37)

actions/environment_coupled_wholebody/EC02/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": "EC02",
+ "instruction": "Pull the cart behind you as you walk backward across the room. The operator will confirm the space behind you is clear before each take.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 103.9667,
+   "video": "left_eye",
+   "video_t_start": 0.03929052691409041
+  }
+ ],
+ "episodes": [
+  {
+   "id": "5e8e6267-4491-4f70-964d-fd6a9132d2ce",
+   "segment": "segment1",
+   "action": "EC02",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 97.946,
+   "t_start": 0.0393,
+   "t_end": 97.9853,
+   "instruction": "Pull the cart behind you as you walk backward across the room. The operator will confirm the space behind you is clear before each take."
+  }
+ ]
+}

actions/environment_coupled_wholebody/EC02/session_002/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10fd6507490c29d5cc70402f9074fea4e0d8cb42161fc75bdac3ca47bd64f6b1
+size 601370

actions/environment_coupled_wholebody/EC02/session_002/meta.json

@@ -499,5 +499,9 @@
   "family": "environment_coupled_wholebody",
   "primitive": "EC02",
   "source_session": "20260914/EC02/20260914_054143_session83"
+ },
+ "task": {
+  "primitive": "EC02",
+  "instruction": "Pull the cart behind you as you walk backward across the room. The operator will confirm the space behind you is clear before each take."
  }
 }

actions/environment_coupled_wholebody/EC02/session_002/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b18bc858d412d30c7ba87aacc268f286f8295e409f27e675fc84dfb6d01c67f
+size 3361851

actions/environment_coupled_wholebody/EC02/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": "EC02",
+ "instruction": "Pull the cart behind you as you walk backward across the room. The operator will confirm the space behind you is clear before each take.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 89.733267,
+   "video": "left_eye",
+   "video_t_start": 0.040019668693631355
+  }
+ ],
+ "episodes": [
+  {
+   "id": "91ebe0a0-2b51-4fc9-bc32-31d95ab7bdf3",
+   "segment": "segment1",
+   "action": "EC02",
+   "quality": "valid",
+   "start_s": 1.362,
+   "end_s": 88.56,
+   "t_start": 1.402,
+   "t_end": 88.6,
+   "instruction": "Pull the cart behind you as you walk backward across the room. The operator will confirm the space behind you is clear before each take."
+  }
+ ]
+}

actions/environment_coupled_wholebody/EC02/session_003/cameras/gsi_online_calibration.json

@@ -0,0 +1,256 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.411
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.5373,
+   "gate_fail": [],
+   "held_out_px_after": 0.444,
+   "held_out_px_before": 19.889,
+   "inliers": 1897,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.3751,
+    -0.1177,
+    -0.6771
+   ],
+   "split_deg": 0.0671,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.4494,
+   "gate_fail": [],
+   "held_out_px_after": 0.452,
+   "held_out_px_before": 9.719,
+   "inliers": 3208,
+   "position_fitted": true,
+   "position_mm": [
+    0.83,
+    -27.81,
+    -2.8
+   ],
+   "position_sigma_mm": 0.164,
+   "position_split_mm": 0.697,
+   "rotvec_deg": [
+    1.5724,
+    -0.7868,
+    1.7053
+   ],
+   "split_deg": 0.0385,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.1673,
+   "gate_fail": [],
+   "held_out_px_after": 0.696,
+   "held_out_px_before": 8.495,
+   "inliers": 1790,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.4753,
+    -0.9862,
+    2.6235
+   ],
+   "split_deg": 0.0891,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 3.0784,
+   "gate_fail": [],
+   "held_out_px_after": 0.415,
+   "held_out_px_before": 4.637,
+   "inliers": 3474,
+   "position_fitted": true,
+   "position_mm": [
+    1.18,
+    -22.87,
+    0.02
+   ],
+   "position_sigma_mm": 0.178,
+   "position_split_mm": 0.975,
+   "rotvec_deg": [
+    1.7623,
+    -1.0822,
+    2.2803
+   ],
+   "split_deg": 0.0137,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.3763,
+   "gate_fail": [],
+   "held_out_px_after": 0.374,
+   "held_out_px_before": 3.975,
+   "inliers": 3320,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2281,
+    -0.2981,
+    -0.0263
+   ],
+   "split_deg": 0.0172,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "e23bfd7f3918b70fc36e7ea26fd440a76cd571bf746ab148f248b5c71e7edff0",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "806943abefc08fb6e9adee3dc9d8b73654177cfc68a2e91e88e9f6360fdba5c6",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "af90c5ce22276e8e1a01365450e00f843362053550939b102354511af75a6da0",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "3d41b068eaca4172299e5741b03a3d704efa915c806758292aea00656fa0d41c",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "2c15ef9886b6ac3a",
+ "kind": "online_calibration",
+ "output_sha256": "c2230fd937cef9a93a9232b91cd2788b4aff75f13abdd9dcaa566a554145af9a",
+ "overlap": {
+  "left-right": 0.5,
+  "left_eye-left": 0.695,
+  "left_eye-right": 0.702,
+  "left_front-left": 0.506,
+  "left_front-left_eye": 0.692,
+  "left_front-right": 0.458,
+  "left_front-right_eye": 0.698,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.699,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.706,
+  "right_front-left": 0.49,
+  "right_front-left_eye": 0.697,
+  "right_front-right": 0.464,
+  "right_front-right_eye": 0.704
+ },
+ "picture_change": {
+  "left": 44.064,
+  "left_eye": 39.179,
+  "left_front": 38.149,
+  "right": 45.079,
+  "right_eye": 43.205,
+  "right_front": 36.295
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   8711174046111,
+   8712174057222,
+   8716174068333,
+   8717174068333,
+   8718174179444,
+   8719174046111,
+   8722174179444,
+   8723174057222,
+   8725174190555,
+   8726174201666,
+   8728174090555,
+   8729174079444,
+   8731174090555,
+   8732174057222,
+   8733174057222,
+   8734174046111,
+   8735174057222,
+   8736174046111,
+   8738174046111,
+   8739174079444,
+   8742174079444,
+   8743174057222,
+   8745174057222,
+   8746174057222,
+   8748174101666,
+   8749174057222,
+   8750174046111,
+   8754174079444,
+   8755174046111,
+   8756174079444,
+   8758174079444,
+   8759174090555,
+   8761174046111,
+   8762174046111,
+   8764174046111,
+   8765174046111,
+   8768174046111,
+   8769174046111,
+   8770174201666,
+   8771174146111,
+   8774174046111,
+   8775174123888,
+   8776174079444,
+   8780174046111,
+   8781174101666,
+   8783174057222,
+   8784174123888,
+   8785174146111,
+   8786174057222,
+   8787174090555,
+   8788174079444,
+   8792174112777,
+   8793174112777,
+   8794174057222,
+   8795174079444,
+   8797174090555,
+   8798174079444
+  ]
+ },
+ "version": 1
+}

actions/environment_coupled_wholebody/EC02/session_003/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29dd1298a41ff6c65c2366a914ee52a3137a78d31ddb280479a416d8768da87d
+size 518453

actions/environment_coupled_wholebody/EC02/session_003/meta.json

@@ -366,8 +366,8 @@
   "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": 22.5,
+    "offset_rotvec": [
+     0.3843,
+     -0.0768,
+     0.024
+    ],
+    "dev_deg": {
+     "median": 10.31,
+     "p90": 29.28
+    },
+    "samples": 2481,
+    "accepted": 2243,
+    "wrist_pos_err_mm_median": 37.3,
+    "per_camera": {
+     "head": {
+      "samples": 2481,
+      "accepted": 2243,
+      "gate_deg": 30.0,
+      "offset_deg": 22.5,
+      "tier": "primary",
+      "dev_deg_median": 10.31,
+      "wrist_pos_err_mm_median": 37.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 8988,
+     "interpolated": 564,
+     "mean_hand": 949,
+     "no_body_fit": 275
+    },
+    "observed_fraction": 0.8864,
+    "observed_fraction_of_valid": 0.9096,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 19.98,
+     "smplx": 1.01
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.4,
+      "p90": 13.5
+     },
+     "registered": {
+      "median": 8.1,
+      "p90": 9.2
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 37.22,
+    "offset_rotvec": [
+     0.5696,
+     0.1796,
+     0.2557
+    ],
+    "dev_deg": {
+     "median": 22.17,
+     "p90": 61.81
+    },
+    "samples": 1985,
+    "accepted": 1336,
+    "wrist_pos_err_mm_median": 45.6,
+    "per_camera": {
+     "head": {
+      "samples": 1985,
+      "accepted": 1336,
+      "gate_deg": 30.0,
+      "offset_deg": 37.22,
+      "tier": "primary",
+      "dev_deg_median": 22.17,
+      "wrist_pos_err_mm_median": 45.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 5376,
+     "interpolated": 708,
+     "mean_hand": 4417,
+     "no_body_fit": 275
+    },
+    "observed_fraction": 0.5646,
+    "observed_fraction_of_valid": 0.5794,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 29.93,
+     "smplx": 1.33
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 11.8,
+      "p90": 18.4
+     },
+     "registered": {
+      "median": 11.1,
+      "p90": 17.2
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:36:48.229516+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/environment_coupled_wholebody/EC02/session_003",
   "family": "environment_coupled_wholebody",
   "primitive": "EC02",
   "source_session": "20261019/EC02/20261019_112431_session95"
  },
+ "task": {
+  "primitive": "EC02",
+  "instruction": "Pull the cart behind you as you walk backward across the room. The operator will confirm the space behind you is clear before each take."
+ },
  "objects": [
   {
    "name": "BigBox",

actions/environment_coupled_wholebody/EC02/session_003/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44b2078687072cf1f66e984f4cdb4005641bcc038910429af43c4a5e19862450
+size 3126707

actions/environment_coupled_wholebody/EC02/session_003/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a9206de71ccbca5d9ce2f057a24ff06816cb3cf74a655599cb372b0bcad9c5cc
-size 4039849
+oid sha256:1bf29dba98ef7218183b77b5f13cd4bef5f8847f0a2c0dc0e4a61175e69c2613
+size 6790577

actions/environment_coupled_wholebody/EC02/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": "EC02",
+ "instruction": "Pull the cart behind you as you walk backward across the room. The operator will confirm the space behind you is clear before each take.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 105.7333,
+   "video": "left_eye",
+   "video_t_start": 0.040099096799468534
+  }
+ ],
+ "episodes": [
+  {
+   "id": "4cdb6133-4bfa-41e7-9b51-216ce1d86655",
+   "segment": "segment1",
+   "action": "EC02",
+   "quality": "valid",
+   "start_s": 2.264,
+   "end_s": 100.758,
+   "t_start": 2.3041,
+   "t_end": 100.7981,
+   "instruction": "Pull the cart behind you as you walk backward across the room. The operator will confirm the space behind you is clear before each take."
+  }
+ ]
+}

actions/environment_coupled_wholebody/EC02/session_004/cameras/gsi_online_calibration.json

@@ -0,0 +1,212 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.404
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.6072,
+   "gate_fail": [],
+   "held_out_px_after": 0.461,
+   "held_out_px_before": 23.681,
+   "inliers": 1652,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.3465,
+    -0.1677,
+    -0.8612
+   ],
+   "split_deg": 0.069,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.5112,
+   "gate_fail": [],
+   "held_out_px_after": 0.452,
+   "held_out_px_before": 9.651,
+   "inliers": 2975,
+   "position_fitted": true,
+   "position_mm": [
+    2.11,
+    -29.43,
+    -3.83
+   ],
+   "position_sigma_mm": 0.257,
+   "position_split_mm": 1.067,
+   "rotvec_deg": [
+    1.707,
+    -0.8074,
+    1.6554
+   ],
+   "split_deg": 0.0335,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 3.5717,
+   "gate_fail": [],
+   "held_out_px_after": 0.835,
+   "held_out_px_before": 7.434,
+   "inliers": 1306,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.6474,
+    -1.2137,
+    2.9275
+   ],
+   "split_deg": 0.045,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 3.2538,
+   "gate_fail": [],
+   "held_out_px_after": 0.459,
+   "held_out_px_before": 5.144,
+   "inliers": 2926,
+   "position_fitted": true,
+   "position_mm": [
+    2.53,
+    -19.31,
+    -1.62
+   ],
+   "position_sigma_mm": 0.235,
+   "position_split_mm": 0.281,
+   "rotvec_deg": [
+    1.9853,
+    -1.2003,
+    2.2815
+   ],
+   "split_deg": 0.0579,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.446,
+   "gate_fail": [],
+   "held_out_px_after": 0.337,
+   "held_out_px_before": 2.028,
+   "inliers": 3033,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2517,
+    -0.3667,
+    -0.0335
+   ],
+   "split_deg": 0.0509,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "b16da65b7206a0d19b2d826d5fa14c97b7ac904b85a90b6a4dc9c5c2e2ff1750",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "3a016cec7720424557cc8afed289d34cc7e7a72f669c0ed7c04bf791f8d17be7",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "210cd9bdce4bc049ba1d51e3e199ef9ba1b7f3a1606093bdfa83c781bf186ffa",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "4db715590d936a9223a7deb0d500ed6d2181efbb49350917d311bcc52aa8a050",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "cbe68d8444a7f01b",
+ "kind": "online_calibration",
+ "output_sha256": "9d4c0eb302fca55d3e6be4b6eda1070119d475ad33bd306b62900aa133c414bd",
+ "overlap": {
+  "left-right": 0.5,
+  "left_eye-left": 0.695,
+  "left_eye-right": 0.702,
+  "left_front-left": 0.506,
+  "left_front-left_eye": 0.692,
+  "left_front-right": 0.458,
+  "left_front-right_eye": 0.698,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.699,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.706,
+  "right_front-left": 0.49,
+  "right_front-left_eye": 0.697,
+  "right_front-right": 0.464,
+  "right_front-right_eye": 0.704
+ },
+ "picture_change": {
+  "left": 45.603,
+  "left_eye": 41.92,
+  "left_front": 44.753,
+  "right": 40.323,
+  "right_eye": 40.214,
+  "right_front": 44.465
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   4310753128444,
+   4311753061777,
+   4312753117333,
+   4313753106222,
+   4314753050666,
+   4315753061777,
+   4316753084000,
+   4317753039555,
+   4318753039555,
+   4319753161777,
+   4320753050666
+  ]
+ },
+ "version": 1
+}

actions/environment_coupled_wholebody/EC02/session_004/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfdee0c9c6f494f574236e1c3bccaff8da572f5e78662aca3f24b3ab3cd6cb3b
+size 609333

actions/environment_coupled_wholebody/EC02/session_004/meta.json

@@ -365,8 +365,8 @@
   "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": 2.56,
+    "offset_rotvec": [
+     0.0076,
+     0.0017,
+     0.0439
+    ],
+    "dev_deg": {
+     "median": 9.28,
+     "p90": 23.67
+    },
+    "samples": 2769,
+    "accepted": 2600,
+    "wrist_pos_err_mm_median": 39.1,
+    "per_camera": {
+     "head": {
+      "samples": 2769,
+      "accepted": 2600,
+      "gate_deg": 30.0,
+      "offset_deg": 2.56,
+      "tier": "primary",
+      "dev_deg_median": 9.28,
+      "wrist_pos_err_mm_median": 39.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10494,
+     "interpolated": 1882,
+     "mean_hand": 313,
+     "no_body_fit": 7
+    },
+    "observed_fraction": 0.9748,
+    "observed_fraction_of_valid": 0.9753,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 7.47,
+     "smplx": 1.9
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.8,
+      "p90": 10.1
+     },
+     "registered": {
+      "median": 6.6,
+      "p90": 9.3
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 11.71,
+    "offset_rotvec": [
+     0.0067,
+     -0.1961,
+     0.0574
+    ],
+    "dev_deg": {
+     "median": 14.67,
+     "p90": 60.53
+    },
+    "samples": 2316,
+    "accepted": 1892,
+    "wrist_pos_err_mm_median": 42.3,
+    "per_camera": {
+     "head": {
+      "samples": 2316,
+      "accepted": 1892,
+      "gate_deg": 30.0,
+      "offset_deg": 11.71,
+      "tier": "primary",
+      "dev_deg_median": 14.67,
+      "wrist_pos_err_mm_median": 42.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 7576,
+     "interpolated": 568,
+     "mean_hand": 4545,
+     "no_body_fit": 7
+    },
+    "observed_fraction": 0.6415,
+    "observed_fraction_of_valid": 0.6418,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 19.62,
+     "smplx": 2.27
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.0,
+      "p90": 15.2
+     },
+     "registered": {
+      "median": 8.9,
+      "p90": 14.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T20:57:35.453071+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/environment_coupled_wholebody/EC02/session_004",
   "family": "environment_coupled_wholebody",
   "primitive": "EC02",
   "source_session": "20261020/EC02/20261020_034527_session21"
  },
+ "task": {
+  "primitive": "EC02",
+  "instruction": "Pull the cart behind you as you walk backward across the room. The operator will confirm the space behind you is clear before each take."
+ },
  "objects": [
   {
    "name": "BigBox",

actions/environment_coupled_wholebody/EC02/session_004/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13da297722a4c2b55ca79445a6472066e4cb05175c4d3436749ba8b59d0e5860
+size 3489688

actions/environment_coupled_wholebody/EC02/session_004/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:993c2951f8e934f6ffa06cdf5124640a17c569f40cd6bcb3489da5a513e46e2d
-size 4877323
+oid sha256:5bb85400dee522cf9afa53874be80b757ab0f669c1bc71b0cf60c0bdca38b530
+size 8429073

actions/environment_coupled_wholebody/EC02/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": "EC02",
+ "instruction": "Pull the cart behind you as you walk backward across the room. The operator will confirm the space behind you is clear before each take.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 108.566667,
+   "video": "left_eye",
+   "video_t_start": 0.039433789691537435
+  }
+ ],
+ "episodes": [
+  {
+   "id": "47eba32b-ec22-4682-8911-0dd2e35d722e",
+   "segment": "segment1",
+   "action": "EC02",
+   "quality": "valid",
+   "start_s": 2.241,
+   "end_s": 102.535,
+   "t_start": 2.2804,
+   "t_end": 102.5744,
+   "instruction": "Pull the cart behind you as you walk backward across the room. The operator will confirm the space behind you is clear before each take."
+  }
+ ]
+}

actions/environment_coupled_wholebody/EC02/session_005/cameras/gsi_online_calibration.json

@@ -0,0 +1,257 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.442
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.5772,
+   "gate_fail": [],
+   "held_out_px_after": 0.516,
+   "held_out_px_before": 22.305,
+   "inliers": 1984,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.2937,
+    -0.1434,
+    -0.8908
+   ],
+   "split_deg": 0.0521,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.4261,
+   "gate_fail": [],
+   "held_out_px_after": 0.461,
+   "held_out_px_before": 8.453,
+   "inliers": 3468,
+   "position_fitted": true,
+   "position_mm": [
+    1.83,
+    -29.5,
+    -2.2
+   ],
+   "position_sigma_mm": 0.252,
+   "position_split_mm": 1.913,
+   "rotvec_deg": [
+    1.623,
+    -0.78,
+    1.6258
+   ],
+   "split_deg": 0.0516,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 3.6206,
+   "gate_fail": [],
+   "held_out_px_after": 0.673,
+   "held_out_px_before": 7.834,
+   "inliers": 1735,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.7148,
+    -1.2375,
+    2.9389
+   ],
+   "split_deg": 0.0688,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 3.2388,
+   "gate_fail": [],
+   "held_out_px_after": 0.421,
+   "held_out_px_before": 5.32,
+   "inliers": 3707,
+   "position_fitted": true,
+   "position_mm": [
+    2.94,
+    -20.29,
+    -0.84
+   ],
+   "position_sigma_mm": 0.277,
+   "position_split_mm": 1.603,
+   "rotvec_deg": [
+    1.9094,
+    -1.2066,
+    2.3212
+   ],
+   "split_deg": 0.0339,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.4668,
+   "gate_fail": [],
+   "held_out_px_after": 0.431,
+   "held_out_px_before": 2.758,
+   "inliers": 3345,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2362,
+    -0.3989,
+    -0.0553
+   ],
+   "split_deg": 0.0288,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "24ef6359a276e55e0f179e15212e8ff1f14d4fe51fa335d8446d65b946648c60",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "7ef7add048e905a9b1f308b98deef4c7d0d2e495277b9ecdd7602701c6a2917a",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "04f458763e2aef76d62bfe97c8b5534c873ad822acb0fe5fc4b0cf42fe17af97",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "37f9c1ae18c841fa000b45506420d842a269ac96e9b7bc3612c3b274725ad542",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "feb2225e45f61594",
+ "kind": "online_calibration",
+ "output_sha256": "1ceeceabcbfaa789a075636e9889a790299f72db4cff15536b863c4a02bb0207",
+ "overlap": {
+  "left-right": 0.5,
+  "left_eye-left": 0.695,
+  "left_eye-right": 0.702,
+  "left_front-left": 0.506,
+  "left_front-left_eye": 0.692,
+  "left_front-right": 0.458,
+  "left_front-right_eye": 0.698,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.699,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.706,
+  "right_front-left": 0.49,
+  "right_front-left_eye": 0.697,
+  "right_front-right": 0.464,
+  "right_front-right_eye": 0.704
+ },
+ "picture_change": {
+  "left": 50.087,
+  "left_eye": 46.017,
+  "left_front": 47.48,
+  "right": 45.096,
+  "right_eye": 45.055,
+  "right_front": 44.821
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   4435380017000,
+   4436380017000,
+   4439380017000,
+   4440380017000,
+   4442380017000,
+   4443380017000,
+   4448380039222,
+   4449380061444,
+   4450380028111,
+   4455380061444,
+   4456380028111,
+   4457380039222,
+   4460380028111,
+   4461380061444,
+   4464380228111,
+   4465380194777,
+   4467380039222,
+   4468380039222,
+   4470380061444,
+   4471380028111,
+   4473380061444,
+   4474380194777,
+   4479380105888,
+   4480380128111,
+   4481380028111,
+   4484380183666,
+   4485380028111,
+   4488380039222,
+   4489380039222,
+   4490380061444,
+   4491380028111,
+   4496380083666,
+   4497380072555,
+   4500380028111,
+   4501380105888,
+   4503380039222,
+   4504380205888,
+   4505380072555,
+   4508380061444,
+   4509380039222,
+   4513380061444,
+   4514380050333,
+   4515380061444,
+   4516380105888,
+   4519380061444,
+   4520380028111,
+   4524380083666,
+   4525380117000,
+   4526380028111,
+   4527380061444,
+   4529380050333,
+   4530380028111,
+   4532380172555,
+   4533380061444,
+   4536380072555,
+   4537380039222
+  ]
+ },
+ "version": 1
+}

actions/environment_coupled_wholebody/EC02/session_005/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48313262f61a9d0fbf73371c199d61a1d324057bb99858d8b18d9cd73bfb7473
+size 626489

actions/environment_coupled_wholebody/EC02/session_005/meta.json

@@ -354,8 +354,8 @@
   "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": {
@@ -499,12 +499,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 3.96,
+    "offset_rotvec": [
+     -0.0353,
+     0.021,
+     0.0556
+    ],
+    "dev_deg": {
+     "median": 7.72,
+     "p90": 18.49
+    },
+    "samples": 2920,
+    "accepted": 2849,
+    "wrist_pos_err_mm_median": 55.5,
+    "per_camera": {
+     "head": {
+      "samples": 2920,
+      "accepted": 2849,
+      "gate_deg": 30.0,
+      "offset_deg": 3.96,
+      "tier": "primary",
+      "dev_deg_median": 7.72,
+      "wrist_pos_err_mm_median": 55.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11484,
+     "interpolated": 1204,
+     "mean_hand": 348,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9733,
+    "observed_fraction_of_valid": 0.9733,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 7.9,
+     "smplx": 1.69
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 13.4,
+      "p90": 14.1
+     },
+     "registered": {
+      "median": 12.7,
+      "p90": 13.6
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 20.02,
+    "offset_rotvec": [
+     -0.0299,
+     -0.2996,
+     0.1774
+    ],
+    "dev_deg": {
+     "median": 18.31,
+     "p90": 36.25
+    },
+    "samples": 2672,
+    "accepted": 2172,
+    "wrist_pos_err_mm_median": 51.7,
+    "per_camera": {
+     "head": {
+      "samples": 2672,
+      "accepted": 2172,
+      "gate_deg": 30.0,
+      "offset_deg": 20.02,
+      "tier": "primary",
+      "dev_deg_median": 18.31,
+      "wrist_pos_err_mm_median": 51.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 8748,
+     "interpolated": 1404,
+     "mean_hand": 2884,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.7788,
+    "observed_fraction_of_valid": 0.7788,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 23.35,
+     "smplx": 1.75
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.5,
+      "p90": 12.8
+     },
+     "registered": {
+      "median": 9.1,
+      "p90": 12.2
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T20:57:28.594588+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/environment_coupled_wholebody/EC02/session_005",
   "family": "environment_coupled_wholebody",
   "primitive": "EC02",
   "source_session": "20261020/EC02/20261020_034732_session22"
  },
+ "task": {
+  "primitive": "EC02",
+  "instruction": "Pull the cart behind you as you walk backward across the room. The operator will confirm the space behind you is clear before each take."
+ },
  "objects": [
   {
    "name": "BigBox",

actions/environment_coupled_wholebody/EC02/session_005/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5a5dac5938f5b500030ef1efc7c01e6bd8946baf72f3f54172778e0b8c00c94
+size 3822950

actions/environment_coupled_wholebody/EC02/session_005/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8c741416528aed958a48513538888aa85b80f734286af5332db4bbca3339e7aa
-size 5005897
+oid sha256:b108117a0cba1e085d4d47baa92e12cdc3b4fb56e666d8e206892603e2b9077a
+size 8963194

actions/environment_coupled_wholebody/EC02/session_006/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": "EC02",
+ "instruction": "Pull the cart behind you as you walk backward across the room. The operator will confirm the space behind you is clear before each take.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 105.7668,
+   "video": "left_eye",
+   "video_t_start": 0.03989167705006594
+  }
+ ],
+ "episodes": [
+  {
+   "id": "db00440a-5214-4e47-a011-585574e86bb5",
+   "segment": "segment1",
+   "action": "EC02",
+   "quality": "valid",
+   "start_s": 2.319,
+   "end_s": 99.27,
+   "t_start": 2.3589,
+   "t_end": 99.3099,
+   "instruction": "Pull the cart behind you as you walk backward across the room. The operator will confirm the space behind you is clear before each take."
+  }
+ ]
+}

actions/environment_coupled_wholebody/EC02/session_006/cameras/gsi_online_calibration.json

@@ -0,0 +1,258 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.417
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.5288,
+   "gate_fail": [],
+   "held_out_px_after": 0.603,
+   "held_out_px_before": 22.57,
+   "inliers": 1877,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.2375,
+    -0.0601,
+    -0.8958
+   ],
+   "split_deg": 0.1225,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.4572,
+   "gate_fail": [],
+   "held_out_px_after": 0.468,
+   "held_out_px_before": 7.216,
+   "inliers": 3200,
+   "position_fitted": true,
+   "position_mm": [
+    0.58,
+    -28.3,
+    -4.11
+   ],
+   "position_sigma_mm": 0.239,
+   "position_split_mm": 1.047,
+   "rotvec_deg": [
+    1.7121,
+    -0.706,
+    1.6151
+   ],
+   "split_deg": 0.0385,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 3.5307,
+   "gate_fail": [],
+   "held_out_px_after": 0.61,
+   "held_out_px_before": 10.263,
+   "inliers": 1929,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.5657,
+    -1.1341,
+    2.9544
+   ],
+   "split_deg": 0.0442,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 3.2432,
+   "gate_fail": [],
+   "held_out_px_after": 0.402,
+   "held_out_px_before": 5.002,
+   "inliers": 3159,
+   "position_fitted": true,
+   "position_mm": [
+    2.81,
+    -20.69,
+    -2.75
+   ],
+   "position_sigma_mm": 0.231,
+   "position_split_mm": 1.066,
+   "rotvec_deg": [
+    1.9676,
+    -1.1411,
+    2.3119
+   ],
+   "split_deg": 0.0895,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.3864,
+   "gate_fail": [],
+   "held_out_px_after": 0.378,
+   "held_out_px_before": 2.909,
+   "inliers": 3461,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.252,
+    -0.2928,
+    -0.0066
+   ],
+   "split_deg": 0.0245,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "73cf24b52cd48dd6888c204bdd90cf953d420684331d376f4650ae9a11fc93af",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "a1ad5be615367182bcd28d8911d36b74688becb3ca0e3a347b1c279683f4860d",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "616cbc61921b425cd959fdd72654f6a1543a59c34ae86a9fe8451c41d44ad98e",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "d6f68d24a1c2e4df91556c82b17251e2420ebe3b21555b96812df113fe8db316",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "0f97cca9eea0b310",
+ "kind": "online_calibration",
+ "output_sha256": "0f7033a6e80d39769644cb7a282d749726d0464f97a247ca6506d5c563a19cb8",
+ "overlap": {
+  "left-right": 0.5,
+  "left_eye-left": 0.695,
+  "left_eye-right": 0.702,
+  "left_front-left": 0.506,
+  "left_front-left_eye": 0.692,
+  "left_front-right": 0.458,
+  "left_front-right_eye": 0.698,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.699,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.706,
+  "right_front-left": 0.49,
+  "right_front-left_eye": 0.697,
+  "right_front-right": 0.464,
+  "right_front-right_eye": 0.704
+ },
+ "picture_change": {
+  "left": 50.288,
+  "left_eye": 51.59,
+  "left_front": 50.335,
+  "right": 49.963,
+  "right_eye": 51.51,
+  "right_front": 48.258
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   4566843011111,
+   4567843000000,
+   4571843000000,
+   4572843000000,
+   4573843011111,
+   4574843100000,
+   4578843044444,
+   4579843011111,
+   4580843044444,
+   4581843077777,
+   4585843011111,
+   4586843111111,
+   4587843044444,
+   4588843011111,
+   4591843044444,
+   4592843155555,
+   4595843055555,
+   4596843044444,
+   4598843022222,
+   4599843033333,
+   4603843011111,
+   4604843088888,
+   4605843155555,
+   4606843011111,
+   4609843011111,
+   4610843044444,
+   4614843155555,
+   4615843055555,
+   4616843055555,
+   4619843100000,
+   4620843022222,
+   4623843011111,
+   4624843022222,
+   4625843100000,
+   4626843044444,
+   4629843155555,
+   4630843055555,
+   4634843044444,
+   4635843022222,
+   4636843022222,
+   4639843022222,
+   4640843100000,
+   4643843044444,
+   4644843044444,
+   4646843022222,
+   4647843088888,
+   4650843044444,
+   4651843011111,
+   4654843155555,
+   4655843044444,
+   4657843044444,
+   4658843155555,
+   4662843044444,
+   4663843044444,
+   4664843011111,
+   4666843055555,
+   4667843044444
+  ]
+ },
+ "version": 1
+}

actions/environment_coupled_wholebody/EC02/session_006/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81db4c60875f06a34d89138f0a48e38ba04fbce7b1e7020045fc799ad3e04379
+size 609863

actions/environment_coupled_wholebody/EC02/session_006/meta.json

@@ -353,8 +353,8 @@
   "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": {
@@ -493,12 +493,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 3.18,
+    "offset_rotvec": [
+     0.0496,
+     0.0123,
+     0.0216
+    ],
+    "dev_deg": {
+     "median": 11.8,
+     "p90": 27.73
+    },
+    "samples": 2682,
+    "accepted": 2462,
+    "wrist_pos_err_mm_median": 39.9,
+    "per_camera": {
+     "head": {
+      "samples": 2682,
+      "accepted": 2462,
+      "gate_deg": 30.0,
+      "offset_deg": 3.18,
+      "tier": "primary",
+      "dev_deg_median": 11.8,
+      "wrist_pos_err_mm_median": 39.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9910,
+     "interpolated": 1206,
+     "mean_hand": 1584,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.8753,
+    "observed_fraction_of_valid": 0.8753,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 8.28,
+     "smplx": 1.82
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.8,
+      "p90": 9.9
+     },
+     "registered": {
+      "median": 7.9,
+      "p90": 9.7
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 12.62,
+    "offset_rotvec": [
+     0.0338,
+     -0.211,
+     0.0534
+    ],
+    "dev_deg": {
+     "median": 14.37,
+     "p90": 38.43
+    },
+    "samples": 2684,
+    "accepted": 2341,
+    "wrist_pos_err_mm_median": 47.2,
+    "per_camera": {
+     "head": {
+      "samples": 2684,
+      "accepted": 2341,
+      "gate_deg": 30.0,
+      "offset_deg": 12.62,
+      "tier": "primary",
+      "dev_deg_median": 14.37,
+      "wrist_pos_err_mm_median": 47.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9410,
+     "interpolated": 1258,
+     "mean_hand": 2032,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.84,
+    "observed_fraction_of_valid": 0.84,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 19.41,
+     "smplx": 1.38
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.6,
+      "p90": 13.5
+     },
+     "registered": {
+      "median": 10.2,
+      "p90": 12.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T20:57:28.578870+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/environment_coupled_wholebody/EC02/session_006",
   "family": "environment_coupled_wholebody",
   "primitive": "EC02",
   "source_session": "20261020/EC02/20261020_034943_session23"
  },
+ "task": {
+  "primitive": "EC02",
+  "instruction": "Pull the cart behind you as you walk backward across the room. The operator will confirm the space behind you is clear before each take."
+ },
  "objects": [
   {
    "name": "BigBox",

actions/environment_coupled_wholebody/EC02/session_006/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1be0b183bf99541b3994210c2ad47ab330b8dff22bb8c2b07a91cb13ab4b03d3
+size 3668109

actions/environment_coupled_wholebody/EC02/session_006/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:98eddc9b2f0bba2e805fd149c3b982b3bdbc5d49c9b70b41c773e18024cc60fb
-size 4876799
+oid sha256:d4362a64c2b1f4d1959c65ef6a8ac283aaef2d5e98e00c5aebaf4b6a3c083b72
+size 8701835