Release update 2026-11-05: 5760 sessions, instructions, annotations (part 340)

actions/locomanipulation/LM10/session_024/cameras/gsi_online_calibration.json

@@ -0,0 +1,263 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 84,
+    "median_px": 3.31,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.432
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 2.4483,
+   "gate_fail": [],
+   "held_out_px_after": 0.592,
+   "held_out_px_before": 10.158,
+   "inliers": 1831,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.0354,
+    -1.2743,
+    0.4768
+   ],
+   "split_deg": 0.0362,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.6517,
+   "gate_fail": [],
+   "held_out_px_after": 0.654,
+   "held_out_px_before": 3.973,
+   "inliers": 2625,
+   "position_fitted": true,
+   "position_mm": [
+    -2.65,
+    -15.44,
+    1.82
+   ],
+   "position_sigma_mm": 0.223,
+   "position_split_mm": 2.184,
+   "rotvec_deg": [
+    0.1821,
+    -0.1389,
+    0.6101
+   ],
+   "split_deg": 0.1049,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.579,
+   "gate_fail": [],
+   "held_out_px_after": 0.68,
+   "held_out_px_before": 7.544,
+   "inliers": 1861,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.1037,
+    -1.0934,
+    2.6811
+   ],
+   "split_deg": 0.1014,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9,
+   "gate_fail": [],
+   "held_out_px_after": 0.419,
+   "held_out_px_before": 5.784,
+   "inliers": 3689,
+   "position_fitted": true,
+   "position_mm": [
+    -1.39,
+    -15.17,
+    2.98
+   ],
+   "position_sigma_mm": 0.172,
+   "position_split_mm": 1.293,
+   "rotvec_deg": [
+    0.4128,
+    -0.877,
+    1.6342
+   ],
+   "split_deg": 0.0382,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0136,
+   "gate_fail": [],
+   "held_out_px_after": 0.353,
+   "held_out_px_before": 6.145,
+   "inliers": 4491,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.7008,
+    -0.3321,
+    -0.6527
+   ],
+   "split_deg": 0.0363,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e3296774a321bb51",
+ "factory_root_name": "e3296774a321bb51",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "f2aa6e35639798a0ac3e40696577e9c2ba3529edd9aa777fd6eefb5f31097ea6",
+   "source_sha256": "2bf43346f9825da1c051096d46ceb924252959c0c3fed4ac9c166c6096121ae0"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "f8be2fb53bb59c2a01edf58e1169e2f31803e1cbbdc95b99605ddf2bb0b083e4",
+   "source_sha256": "b80f390816142bc598f6a58e17810083d07270f17802c79b0d33dade12e1a7ed"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "67609b9dcade5559029016eef4799f0b0f7b139d52e00e78efc7c7b175ccb35d",
+   "source_sha256": "55ee2a9af25410709c73762b726e1a41e5450b277090a5256571601dd5fd719b"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "241d7457e9cdcad3d00b3aab057f771cd42cc7c9fc0b5eccaaa6fdac09cfa3f1",
+   "source_sha256": "b2fcef709086e19cb082ae12586aebd1a6fa9a92db90015c1c5a641f4588dfc7"
+  }
+ },
+ "input_fingerprint": "d0873b845203dd42",
+ "kind": "online_calibration",
+ "output_sha256": "b7dd4ea9abad3bbbeb5dba5affd41591f92893ce845859b71bde8ded01db341c",
+ "overlap": {
+  "left-right": 0.489,
+  "left_eye-left": 0.684,
+  "left_eye-right": 0.685,
+  "left_eye-right_eye": 1.0,
+  "left_front-left": 0.466,
+  "left_front-left_eye": 0.717,
+  "left_front-right": 0.447,
+  "left_front-right_eye": 0.72,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.672,
+  "right_eye-right": 0.676,
+  "right_front-left": 0.469,
+  "right_front-left_eye": 0.746,
+  "right_front-right": 0.472,
+  "right_front-right_eye": 0.74
+ },
+ "picture_change": {
+  "left": 45.41,
+  "left_eye": 44.61,
+  "left_front": 49.349,
+  "right": 45.465,
+  "right_eye": 43.482,
+  "right_front": 49.177
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   11759104732444,
+   11760104799111,
+   11761104743555,
+   11762104732444,
+   11769104932444,
+   11770104732444,
+   11773104754666,
+   11774104799111,
+   11777104732444,
+   11778104732444,
+   11781104810222,
+   11782104721333,
+   11787104754666,
+   11788104810222,
+   11792104732444,
+   11793104776888,
+   11794104743555,
+   11801104732444,
+   11802104810222,
+   11805104754666,
+   11806104732444,
+   11807104865777,
+   11808104776888,
+   11814104810222,
+   11815104799111,
+   11817104743555,
+   11818104754666,
+   11824104732444,
+   11825104788000,
+   11826104754666,
+   11831104732444,
+   11832104765777,
+   11837104743555,
+   11838104788000,
+   11843104732444,
+   11844104732444,
+   11848104754666,
+   11849104788000,
+   11850104765777,
+   11854104888000,
+   11855104765777,
+   11861104721333,
+   11862104732444,
+   11866104876888,
+   11867104743555,
+   11868104743555,
+   11873104810222,
+   11874104765777,
+   11879104799111,
+   11880104732444,
+   11882104799111,
+   11883104821333,
+   11889104799111,
+   11890104743555,
+   11891104765777
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM10/session_024/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23239824829e670ae502b4a143a10d90a4ef368f82cd59724e577bf9108f5afe
+size 812426

actions/locomanipulation/LM10/session_024/meta.json

@@ -372,8 +372,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -513,12 +513,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 4.08,
+    "offset_rotvec": [
+     -0.028,
+     0.045,
+     -0.0476
+    ],
+    "dev_deg": {
+     "median": 11.76,
+     "p90": 31.78
+    },
+    "samples": 3610,
+    "accepted": 3221,
+    "wrist_pos_err_mm_median": 44.7,
+    "per_camera": {
+     "head": {
+      "samples": 3610,
+      "accepted": 3221,
+      "gate_deg": 30.0,
+      "offset_deg": 4.08,
+      "tier": "primary",
+      "dev_deg_median": 11.76,
+      "wrist_pos_err_mm_median": 44.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13028,
+     "interpolated": 1552,
+     "mean_hand": 2352,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.8607,
+    "observed_fraction_of_valid": 0.8611,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 11.18,
+     "smplx": 2.52
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.5,
+      "p90": 7.7
+     },
+     "registered": {
+      "median": 5.5,
+      "p90": 8.0
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 8.24,
+    "offset_rotvec": [
+     -0.1416,
+     0.0251,
+     -0.0024
+    ],
+    "dev_deg": {
+     "median": 12.08,
+     "p90": 29.36
+    },
+    "samples": 3686,
+    "accepted": 3332,
+    "wrist_pos_err_mm_median": 38.3,
+    "per_camera": {
+     "head": {
+      "samples": 3686,
+      "accepted": 3332,
+      "gate_deg": 30.0,
+      "offset_deg": 8.24,
+      "tier": "primary",
+      "dev_deg_median": 12.08,
+      "wrist_pos_err_mm_median": 38.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13521,
+     "interpolated": 2162,
+     "mean_hand": 1249,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9258,
+    "observed_fraction_of_valid": 0.9262,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 14.01,
+     "smplx": 2.57
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.4,
+      "p90": 10.2
+     },
+     "registered": {
+      "median": 6.9,
+      "p90": 9.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:37:37.127652+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/LM10/session_024",
   "family": "locomanipulation",
   "primitive": "LM10",
   "source_session": "20261024/LM10/20261024_051240_session53"
  },
+ "task": {
+  "primitive": "LM10",
+  "instruction": "Take an object out of the bin at knee height, carry it across the room, and place it on the chest-height shelf. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+ },
  "objects": [
   {
    "name": "LittleBox3",

actions/locomanipulation/LM10/session_024/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75d8960bb0d50c9b946386a9a0576fab4494d6de2969b54f55a05790caea9ba9
+size 4983172

actions/locomanipulation/LM10/session_024/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b36717fa7f62df90b8ca2819f5895e2a057063f729a396044c826792d0cd2953
-size 6510130
+oid sha256:c8988a1063235e6c6244f5d531d2dd849c00dd68ef31e85d234797f4d14eab65
+size 11716380

actions/locomanipulation/LM10/session_025/cameras/gsi_online_calibration.json

@@ -0,0 +1,258 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.465
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 2.3288,
+   "gate_fail": [],
+   "held_out_px_after": 0.66,
+   "held_out_px_before": 8.668,
+   "inliers": 2094,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.8577,
+    -1.3027,
+    0.5245
+   ],
+   "split_deg": 0.0435,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.6303,
+   "gate_fail": [],
+   "held_out_px_after": 0.677,
+   "held_out_px_before": 4.124,
+   "inliers": 2275,
+   "position_fitted": true,
+   "position_mm": [
+    -2.21,
+    -17.32,
+    3.2
+   ],
+   "position_sigma_mm": 0.26,
+   "position_split_mm": 2.832,
+   "rotvec_deg": [
+    0.0149,
+    -0.112,
+    0.6201
+   ],
+   "split_deg": 0.0615,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 3.7029,
+   "gate_fail": [],
+   "held_out_px_after": 0.785,
+   "held_out_px_before": 8.012,
+   "inliers": 2056,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.2305,
+    -1.0998,
+    2.7435
+   ],
+   "split_deg": 0.1298,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.8881,
+   "gate_fail": [],
+   "held_out_px_after": 0.472,
+   "held_out_px_before": 5.773,
+   "inliers": 3666,
+   "position_fitted": true,
+   "position_mm": [
+    -0.07,
+    -15.28,
+    2.49
+   ],
+   "position_sigma_mm": 0.204,
+   "position_split_mm": 2.402,
+   "rotvec_deg": [
+    0.403,
+    -0.8802,
+    1.621
+   ],
+   "split_deg": 0.0363,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0631,
+   "gate_fail": [],
+   "held_out_px_after": 0.397,
+   "held_out_px_before": 6.588,
+   "inliers": 5153,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.7126,
+    -0.3452,
+    -0.7093
+   ],
+   "split_deg": 0.0141,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e3296774a321bb51",
+ "factory_root_name": "e3296774a321bb51",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "b5ffad272adc163becf1617ec9bdee243b308b3c6c78498c72552e2ad127d776",
+   "source_sha256": "2bf43346f9825da1c051096d46ceb924252959c0c3fed4ac9c166c6096121ae0"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "7830482973df24aaab1cba9dca4555045ea68533566866326e3ec4082758108a",
+   "source_sha256": "b80f390816142bc598f6a58e17810083d07270f17802c79b0d33dade12e1a7ed"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "cc97dfbcf6ba57f0ac57da6beb0dcf90299151be7c1757a447a5e26e055e2400",
+   "source_sha256": "55ee2a9af25410709c73762b726e1a41e5450b277090a5256571601dd5fd719b"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "92feb7157fbddaa7174440ab091d64663bd5f355684e137ebc613aa1479ecc93",
+   "source_sha256": "b2fcef709086e19cb082ae12586aebd1a6fa9a92db90015c1c5a641f4588dfc7"
+  }
+ },
+ "input_fingerprint": "e0e8e3830efbef18",
+ "kind": "online_calibration",
+ "output_sha256": "f19a5b72f9b9927fec31f55dcae1883d3286332e327e630bcd352f293da19872",
+ "overlap": {
+  "left-right": 0.489,
+  "left_eye-left": 0.684,
+  "left_eye-right": 0.685,
+  "left_eye-right_eye": 1.0,
+  "left_front-left": 0.466,
+  "left_front-left_eye": 0.717,
+  "left_front-right": 0.447,
+  "left_front-right_eye": 0.72,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.672,
+  "right_eye-right": 0.676,
+  "right_front-left": 0.469,
+  "right_front-left_eye": 0.746,
+  "right_front-right": 0.472,
+  "right_front-right_eye": 0.74
+ },
+ "picture_change": {
+  "left": 39.471,
+  "left_eye": 44.569,
+  "left_front": 48.712,
+  "right": 43.911,
+  "right_eye": 43.617,
+  "right_front": 49.166
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   11913971470000,
+   11914971470000,
+   11915971470000,
+   11916971470000,
+   11921971470000,
+   11922971470000,
+   11923971470000,
+   11926971492222,
+   11927971614444,
+   11931971470000,
+   11932971470000,
+   11937971614444,
+   11938971503333,
+   11941971625555,
+   11942971503333,
+   11945971514444,
+   11946971470000,
+   11948971481111,
+   11949971470000,
+   11953971470000,
+   11954971625555,
+   11958971503333,
+   11959971536666,
+   11963971603333,
+   11964971614444,
+   11966971470000,
+   11967971503333,
+   11970971614444,
+   11971971470000,
+   11975971481111,
+   11976971481111,
+   11977971514444,
+   11978971514444,
+   11981971481111,
+   11982971536666,
+   11987971547777,
+   11988971547777,
+   11993971470000,
+   11994971547777,
+   11995971481111,
+   11998971481111,
+   11999971481111,
+   12003971547777,
+   12004971625555,
+   12008971614444,
+   12009971470000,
+   12012971481111,
+   12013971503333,
+   12018971603333,
+   12019971503333,
+   12020971481111,
+   12023971481111,
+   12024971536666,
+   12030971481111,
+   12031971470000,
+   12032971481111,
+   12033971492222
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM10/session_025/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af1a9740ecbd6bbeca9ea598a526a475e0fa824e850f0baa79a6bedd653e9174
+size 747784

actions/locomanipulation/LM10/session_025/meta.json

@@ -372,8 +372,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -513,12 +513,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 5.62,
+    "offset_rotvec": [
+     -0.0421,
+     0.0791,
+     -0.04
+    ],
+    "dev_deg": {
+     "median": 11.16,
+     "p90": 29.52
+    },
+    "samples": 3449,
+    "accepted": 3112,
+    "wrist_pos_err_mm_median": 40.7,
+    "per_camera": {
+     "head": {
+      "samples": 3449,
+      "accepted": 3112,
+      "gate_deg": 30.0,
+      "offset_deg": 5.62,
+      "tier": "primary",
+      "dev_deg_median": 11.16,
+      "wrist_pos_err_mm_median": 40.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12510,
+     "interpolated": 994,
+     "mean_hand": 2095,
+     "no_body_fit": 5
+    },
+    "observed_fraction": 0.8654,
+    "observed_fraction_of_valid": 0.8657,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 10.86,
+     "smplx": 2.65
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.1,
+      "p90": 7.7
+     },
+     "registered": {
+      "median": 4.8,
+      "p90": 6.9
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 9.33,
+    "offset_rotvec": [
+     -0.1579,
+     0.0264,
+     -0.0299
+    ],
+    "dev_deg": {
+     "median": 12.47,
+     "p90": 29.75
+    },
+    "samples": 3641,
+    "accepted": 3283,
+    "wrist_pos_err_mm_median": 37.5,
+    "per_camera": {
+     "head": {
+      "samples": 3641,
+      "accepted": 3283,
+      "gate_deg": 30.0,
+      "offset_deg": 9.33,
+      "tier": "primary",
+      "dev_deg_median": 12.47,
+      "wrist_pos_err_mm_median": 37.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13206,
+     "interpolated": 1302,
+     "mean_hand": 1091,
+     "no_body_fit": 5
+    },
+    "observed_fraction": 0.9298,
+    "observed_fraction_of_valid": 0.9301,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 14.1,
+     "smplx": 2.14
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.2,
+      "p90": 10.9
+     },
+     "registered": {
+      "median": 6.4,
+      "p90": 10.1
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:37:37.141789+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/LM10/session_025",
   "family": "locomanipulation",
   "primitive": "LM10",
   "source_session": "20261024/LM10/20261024_051514_session54"
  },
+ "task": {
+  "primitive": "LM10",
+  "instruction": "Take an object out of the bin at knee height, carry it across the room, and place it on the chest-height shelf. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+ },
  "objects": [
   {
    "name": "LittleBox3",

actions/locomanipulation/LM10/session_025/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d51f3d47f22ec885b2cdd2bf7d126e19fb48bb2e2f843b84e08b4b3c30ec6656
+size 4819167

actions/locomanipulation/LM10/session_025/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:22f3509720ec873368cfe9e926d904ea32d9e29d4d3ef14d5735cc219ffede00
-size 6001557
+oid sha256:3ce6ba50acea8670ec0b9ed438a001af981cdd844ff2c900030963c7c3b57041
+size 10834209