Release update 2026-11-05: 5760 sessions, instructions, annotations (part 266)

.gitattributes

@@ -43568,3 +43568,10 @@ actions/locomanipulation/LM06/session_027/raw/sensors/robocap_imu_right.db filte
 actions/locomanipulation/LM06/session_027/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM06/session_028/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM06/session_028/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM06/session_028/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM06/session_028/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM06/session_028/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM06/session_028/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM06/session_028/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM06/session_028/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM06/session_028/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/locomanipulation/LM06/session_028/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bf0e56e45bd2339f1d7a21a6a8ce1437abd815c98f72b60b321b2a6bd2f0c2a
+size 1142784

actions/locomanipulation/LM06/session_028/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16948e767f8f6c390a560042f88fda2e6cefd494d31917aeef182911ebabebf9
+size 1101824

actions/locomanipulation/LM06/session_028/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30e7e123e02b3a6f8ff0f9e1409b4228c35ff06ab1a609611c56706c19a45099
+size 303104

actions/locomanipulation/LM06/session_028/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8ea2a7c1a0defc646c7360567582e76e9030a2a28b7bca5bb37618dab28aaf1
+size 1110016

actions/locomanipulation/LM06/session_028/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ca2e239f27bf80324d8a223ae6f3e30b96d3db1b148bf2cd60ec84f7b82f402
+size 1114112

actions/locomanipulation/LM06/session_028/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adf9aa16b2599db7bfde2cbd3a6617b832c6736809572f421771fdfbecafed46
+size 290816

actions/locomanipulation/LM06/session_028/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05197d96953d259e034ccd47f8ca7fc0223381cafa4d3a639c0350b3adfa0137
+size 290816

actions/locomanipulation/LM06/session_028/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a0a38844f250e9f10ae843eb2801cd8dea421529eb771f4ef8d0591c541c311
+size 1170974

actions/locomanipulation/LM06/session_028/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3bcea82f8050107fbb31dd943b6ef09176c715266a55fb2ffab2f89ef0c08ad
+size 137976

actions/locomanipulation/LM06/session_028/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04469e1093587aec4627dd49cdf523486d7b9cbccb2205c176201d6f762ca823
+size 1238777

actions/locomanipulation/LM06/session_028/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39028813dbd160b2b23bc27d1d634ea8c570c51f6f46f0aec1f4c2862004b2a6
+size 249608

actions/locomanipulation/LM06/session_028/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3932c717a7d4d1e4cbd92d2c313f91703bc3c3803c68b3a3dbc6ed66a77204d2
+size 224098

actions/locomanipulation/LM06/session_028/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2757d3e9ebb7c75963a0808f7fbbba7ee59f3299b69997843bd9535a87b40cd
+size 55592892

actions/locomanipulation/LM06/session_028/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cc8171d0c3bfd063415b84e252338ff70b7352ee5d5008075a1c8bf6bf461f0
+size 50759989

actions/locomanipulation/LM06/session_028/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57b2a951aa0d1814d04eac891c4249e84f34eeb358bb47067c1170d08f745fe2
+size 55534222

actions/locomanipulation/LM06/session_028/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65bc2868afe1d8e59a352b39d1da0ffaa4d1e3d6c92e4cce0e83e63d7fd9a3d8
+size 55580961

actions/locomanipulation/LM06/session_028/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28ed2b597e226afcca9cb8f3527211bcc5e52d26ae06f715996c1dff0ca480c7
+size 55522672

actions/locomanipulation/LM06/session_028/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ceb71e4443fe907f220f23c9ae2e629dc613bcb90e52d4e68f8cc5858c709cc
+size 55532469

actions/locomanipulation/LM06/session_028/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b47df34f6fe707a0efc9ca37943eae38df12aa41d0aa2f17eb6fa82044aa2a64
+size 56243931

actions/locomanipulation/LM06/session_028/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdc03f4b1a98f5dd7a562ab29d8861c434a7c9e2ed66eeadf9bf9a5e3be931b6
+size 39954477

actions/locomanipulation/LM06/session_028/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:199ca9ef24fe2b3c79362bd4a9aac28e775d150db5b41882b2a7fa9f9818b1e4
+size 45826580

actions/locomanipulation/LM07/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": "LM07",
+ "instruction": "Take an object down from the highest shelf you can comfortably reach, carry it across, and place it on the waist-height shelf. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 128.966689,
+   "video": "left_eye",
+   "video_t_start": 0.03891771066376459
+  }
+ ],
+ "episodes": [
+  {
+   "id": "28eded78-afa7-4753-9765-eaed7dbeed37",
+   "segment": "segment1",
+   "action": "LM07",
+   "quality": "valid",
+   "start_s": 0.641,
+   "end_s": 124.444,
+   "t_start": 0.6799,
+   "t_end": 124.4829,
+   "instruction": "Take an object down from the highest shelf you can comfortably reach, carry it across, and place it on the waist-height shelf. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}

actions/locomanipulation/LM07/session_001/cameras/gsi_online_calibration.json

@@ -0,0 +1,258 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.444
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.0661,
+   "gate_fail": [],
+   "held_out_px_after": 0.633,
+   "held_out_px_before": 4.834,
+   "inliers": 2208,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.569,
+    -0.28,
+    -0.857
+   ],
+   "split_deg": 0.1431,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.8977,
+   "gate_fail": [],
+   "held_out_px_after": 0.467,
+   "held_out_px_before": 6.031,
+   "inliers": 4177,
+   "position_fitted": true,
+   "position_mm": [
+    6.83,
+    -16.21,
+    5.3
+   ],
+   "position_sigma_mm": 0.21,
+   "position_split_mm": 2.291,
+   "rotvec_deg": [
+    0.014,
+    0.5542,
+    -1.815
+   ],
+   "split_deg": 0.209,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 1.3037,
+   "gate_fail": [],
+   "held_out_px_after": 0.926,
+   "held_out_px_before": 4.064,
+   "inliers": 1750,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.2191,
+    -0.4518,
+    -0.0972
+   ],
+   "split_deg": 0.2772,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.6879,
+   "gate_fail": [],
+   "held_out_px_after": 0.496,
+   "held_out_px_before": 2.8,
+   "inliers": 3740,
+   "position_fitted": true,
+   "position_mm": [
+    6.28,
+    -17.83,
+    6.21
+   ],
+   "position_sigma_mm": 0.218,
+   "position_split_mm": 2.107,
+   "rotvec_deg": [
+    0.1348,
+    -0.5308,
+    -0.4164
+   ],
+   "split_deg": 0.2148,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.3749,
+   "gate_fail": [],
+   "held_out_px_after": 0.457,
+   "held_out_px_before": 4.385,
+   "inliers": 3431,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.4239,
+    -0.1372,
+    -1.3007
+   ],
+   "split_deg": 0.0332,
+   "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": "b42de9df23704c853e78667a465101610efea544d4d0924a772be2caa3dea009",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "0c76c2b8a426fc27e18e415adbfa81b2d45861b036477cd79ee538684dad83c4",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "18aed5dbd192f54868ccd864a827f2bd1ee1de549cf1ce887f49fab54b2b6d3d",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "920f980bce4c2e163eda8b5118717be39350d99465f90b64a1cf776c5ded83f2",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "e10a1f11d31b0c65",
+ "kind": "online_calibration",
+ "output_sha256": "0397274c8dd410f13ada490b0dd1ec05b65cef47037616c3dc8d29d911fa6a2f",
+ "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": 48.539,
+  "left_eye": 58.526,
+  "left_front": 56.289,
+  "right": 49.192,
+  "right_eye": 57.774,
+  "right_front": 55.244
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   6218547189222,
+   6219547178111,
+   6221547155888,
+   6222547167000,
+   6226547167000,
+   6227547178111,
+   6230547167000,
+   6231547300333,
+   6233547155888,
+   6234547167000,
+   6237547178111,
+   6238547155888,
+   6241547178111,
+   6242547178111,
+   6246547178111,
+   6247547178111,
+   6251547178111,
+   6252547155888,
+   6253547178111,
+   6259547167000,
+   6260547144777,
+   6261547144777,
+   6267547144777,
+   6268547189222,
+   6270547144777,
+   6271547178111,
+   6274547144777,
+   6275547167000,
+   6277547144777,
+   6278547167000,
+   6281547178111,
+   6282547167000,
+   6289547167000,
+   6290547178111,
+   6291547167000,
+   6294547144777,
+   6295547155888,
+   6300547155888,
+   6301547155888,
+   6304547155888,
+   6305547144777,
+   6309547167000,
+   6310547167000,
+   6312547178111,
+   6313547178111,
+   6317547167000,
+   6318547178111,
+   6320547133666,
+   6321547167000,
+   6323547167000,
+   6324547155888,
+   6328547167000,
+   6329547167000,
+   6332547155888,
+   6333547178111,
+   6337547144777,
+   6338547133666
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM07/session_001/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb7b7a4791198c352fe9715746d438cbf1acd7fbc507684aca21031810c7695f
+size 743557

actions/locomanipulation/LM07/session_001/meta.json

@@ -605,5 +605,9 @@
   "family": "locomanipulation",
   "primitive": "LM07",
   "source_session": "20260916/LM07/20260916_020107_session22"
+ },
+ "task": {
+  "primitive": "LM07",
+  "instruction": "Take an object down from the highest shelf you can comfortably reach, carry it across, and place it on the waist-height shelf. Keep going until the operator says stop; one object at a time, and do not rush between trips."
  }
 }

actions/locomanipulation/LM07/session_001/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e5ad2fb9280c994719b0eb403ca8285349b32abdca2f91f7ca5dea41285581c
+size 4413024

actions/locomanipulation/LM07/session_002/cameras/gsi_online_calibration.json

@@ -0,0 +1,256 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.453
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.5776,
+   "gate_fail": [],
+   "held_out_px_after": 0.684,
+   "held_out_px_before": 17.068,
+   "inliers": 1440,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.8795,
+    -0.1156,
+    -1.3046
+   ],
+   "split_deg": 0.2361,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.36,
+   "gate_fail": [],
+   "held_out_px_after": 0.538,
+   "held_out_px_before": 9.671,
+   "inliers": 2842,
+   "position_fitted": true,
+   "position_mm": [
+    0.66,
+    -26.3,
+    -2.88
+   ],
+   "position_sigma_mm": 0.179,
+   "position_split_mm": 0.999,
+   "rotvec_deg": [
+    1.747,
+    -0.8223,
+    1.3569
+   ],
+   "split_deg": 0.0725,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.7081,
+   "gate_fail": [],
+   "held_out_px_after": 0.538,
+   "held_out_px_before": 11.885,
+   "inliers": 1768,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.7991,
+    -1.2918,
+    2.9739
+   ],
+   "split_deg": 0.2375,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 3.0357,
+   "gate_fail": [],
+   "held_out_px_after": 0.554,
+   "held_out_px_before": 6.494,
+   "inliers": 2889,
+   "position_fitted": true,
+   "position_mm": [
+    2.14,
+    -22.51,
+    -1.11
+   ],
+   "position_sigma_mm": 0.198,
+   "position_split_mm": 1.637,
+   "rotvec_deg": [
+    1.8284,
+    -1.4844,
+    1.9154
+   ],
+   "split_deg": 0.1651,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.5814,
+   "gate_fail": [],
+   "held_out_px_after": 0.405,
+   "held_out_px_before": 3.284,
+   "inliers": 3974,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2696,
+    -0.4325,
+    -0.2799
+   ],
+   "split_deg": 0.0755,
+   "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": "d4c54dda8988ce96628dcb92816e56c6540e337e5a0d44cc6caa93af6bcc5b15",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "0eec7157f74a186847834ca3a93085be2060bdeb66567df7db9719129946aefa",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "c1985c77673ce3f9b86178e2f4da0e3d67962668e73b06f23c356693bb6cad32",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "c4ed89fd2432c64533a04a72ef56906a07d3a6a10b17760e48f135e2a229dd4d",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "4dac4f92735a9f36",
+ "kind": "online_calibration",
+ "output_sha256": "5adf840d3fc3080783a096f79f6f4c66df0b59b56ce6e33ae00de96fc32c23f9",
+ "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": 42.756,
+  "left_eye": 50.205,
+  "left_front": 54.053,
+  "right": 47.812,
+  "right_eye": 51.504,
+  "right_front": 52.936
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   21026878493000,
+   21027878515222,
+   21030878504111,
+   21031878515222,
+   21034878493000,
+   21035878504111,
+   21038878593000,
+   21039878526333,
+   21045878581888,
+   21046878504111,
+   21047878548555,
+   21052878581888,
+   21053878581888,
+   21057878526333,
+   21058878493000,
+   21060878493000,
+   21061878515222,
+   21065878504111,
+   21066878537444,
+   21067878537444,
+   21068878648555,
+   21073878504111,
+   21074878526333,
+   21077878604111,
+   21078878537444,
+   21079878493000,
+   21080878504111,
+   21083878615222,
+   21084878504111,
+   21088878648555,
+   21089878548555,
+   21090878493000,
+   21091878504111,
+   21093878570777,
+   21094878670777,
+   21098878526333,
+   21099878515222,
+   21102878537444,
+   21103878593000,
+   21105878593000,
+   21106878526333,
+   21110878537444,
+   21111878504111,
+   21116878504111,
+   21117878537444,
+   21120878570777,
+   21121878548555,
+   21122878581888,
+   21127878581888,
+   21128878504111,
+   21131878593000,
+   21132878526333,
+   21135878537444,
+   21136878548555,
+   21140878570777,
+   21141878504111,
+   21142878526333
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM07/session_002/cameras/poses.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:96ad26d4007babbbbb9b59f24dfb3d830ab4dc2b4bc4ab25ee86e17dcdcfb46a
-size 1061550
+oid sha256:30b4200c5b9956031584b0ef34ce53661aace1a22a9fa93d7504ea03610b6e91
+size 1061642

actions/locomanipulation/LM07/session_002/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c5547f8d0e7529e7b8047c19928a5e3a72cc36f46a1c5d2c71fc5fe038b07de
+size 698561

actions/locomanipulation/LM07/session_002/meta.json

@@ -264,44 +264,44 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
  "canonical": {
-  "generated_at_utc": "2026-10-26T10:25:46.561784+00:00",
+  "generated_at_utc": "2026-11-03T09:16:54.754894+00:00",
   "generated_by": "scripts/canonicalise_dataset.py",
   "frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
   "R_canon_nokov": [
    [
-    0.9999906243,
-    0.0043302626,
-    1.32342e-05
+    0.9999906538,
+    0.004323437,
+    1.33659e-05
    ],
    [
-    -1.32342e-05,
-    0.0061123177,
-    -0.9999813195
+    -1.33659e-05,
+    0.0061829029,
+    -0.9999808856
    ],
    [
-    -0.0043302626,
-    0.9999719438,
-    0.0061123177
+    -0.004323437,
+    0.9999715394,
+    0.0061829029
    ]
   ],
   "scale_nokov_to_canon": 0.001,
   "T_canon_nokov_mm": [
    [
-    0.000999990624,
-    4.330263e-06,
-    1.3234e-08,
+    0.000999990654,
+    4.323437e-06,
+    1.3366e-08,
     0.0
    ],
    [
-    -1.3234e-08,
-    6.112318e-06,
-    -0.00099998132,
+    -1.3366e-08,
+    6.182903e-06,
+    -0.000999980886,
     0.0
    ],
    [
-    -4.330263e-06,
-    0.000999971944,
-    6.112318e-06,
+    -4.323437e-06,
+    0.000999971539,
+    6.182903e-06,
     0.0
    ],
    [
@@ -313,7 +313,7 @@
   ],
   "block": "20261023-morning",
   "block_assignment": "trc",
-  "tilt_removed_deg": 0.42919338938063195,
+  "tilt_removed_deg": 0.4322755857928103,
   "plane_status": "ok",
   "floor": {
    "sole_marker_p1_mm": 19.0,
@@ -323,10 +323,10 @@
    "static_samples": 948,
    "g_world_mean_m_s2": [
     0.1968,
-    -0.0734,
+    -0.0727,
     9.7521
    ],
-   "tilt_from_z_deg": 1.234,
+   "tilt_from_z_deg": 1.232,
    "tilt_from_z_deg_before_levelling": 1.198,
    "magnitude_m_s2": 9.7544
   },
@@ -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": {
@@ -569,12 +569,126 @@
   },
   "applied": 4
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 11.33,
+    "offset_rotvec": [
+     -0.0445,
+     -0.1513,
+     0.1194
+    ],
+    "dev_deg": {
+     "median": 12.33,
+     "p90": 52.1
+    },
+    "samples": 3602,
+    "accepted": 3092,
+    "wrist_pos_err_mm_median": 33.3,
+    "per_camera": {
+     "head": {
+      "samples": 3602,
+      "accepted": 3092,
+      "gate_deg": 30.0,
+      "offset_deg": 11.33,
+      "tier": "primary",
+      "dev_deg_median": 12.33,
+      "wrist_pos_err_mm_median": 33.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12374,
+     "interpolated": 534,
+     "mean_hand": 1616,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.8887,
+    "observed_fraction_of_valid": 0.8887,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 14.64,
+     "smplx": NaN
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": NaN,
+      "p90": NaN
+     },
+     "registered": {
+      "median": NaN,
+      "p90": NaN
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 13.29,
+    "offset_rotvec": [
+     -0.0351,
+     -0.1728,
+     -0.1507
+    ],
+    "dev_deg": {
+     "median": 9.23,
+     "p90": 17.26
+    },
+    "samples": 3615,
+    "accepted": 3527,
+    "wrist_pos_err_mm_median": 33.9,
+    "per_camera": {
+     "head": {
+      "samples": 3615,
+      "accepted": 3527,
+      "gate_deg": 30.0,
+      "offset_deg": 13.29,
+      "tier": "primary",
+      "dev_deg_median": 9.23,
+      "wrist_pos_err_mm_median": 33.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14128,
+     "interpolated": 164,
+     "mean_hand": 232,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.984,
+    "observed_fraction_of_valid": 0.984,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.71,
+     "smplx": 1.83
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.7,
+      "p90": 6.9
+     },
+     "registered": {
+      "median": 5.8,
+      "p90": 6.9
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:43:18.481029+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/LM07/session_002",
   "family": "locomanipulation",
   "primitive": "LM07",
   "source_session": "20261023/LM07/20261023_061152_session79"
  },
+ "task": {
+  "primitive": "LM07",
+  "instruction": "Take an object down from the highest shelf you can comfortably reach, carry it across, and place it on the waist-height shelf. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+ },
  "objects": [
   {
    "name": "HighRack",

actions/locomanipulation/LM07/session_002/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55a3ce4104080b285cdb4bbb5cfed8caefdb34fee05830cc1563c976b457cf97
+size 4876205

actions/locomanipulation/LM07/session_002/motions/head_rig.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:30f27a943b601b86c5802843239f01f0b16fa30f7cd9b31472908b70b102b308
-size 1084353
+oid sha256:8e8b82c3d923f55e6350ccae86c2177764ea68a90038bc9051ea652573583182
+size 1084389

actions/locomanipulation/LM07/session_002/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2454c061f1bc5cd3c1d431fe094c9d8224f64ef25a7450b5fa546fc98b39f556
-size 5580079
+oid sha256:07708f24707e488492b77280fd2cab2fc10bc2bbcb934c5140a6702ee58ea88b
+size 10233161