Release update 2026-11-05: new sessions, instructions, annotations (part 117)

.gitattributes

@@ -47149,3 +47149,30 @@ actions/locomanipulation/LM59/session_021/raw/sensors/robowrist_mag_left.db filt
 actions/locomanipulation/LM59/session_021/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM59/session_022/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
 actions/locomanipulation/LM59/session_022/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_022/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_022/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_022/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_022/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_022/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_022/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM59/session_022/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM60/session_011/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM60/session_011/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM60/session_011/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM60/session_011/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM60/session_011/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM60/session_011/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM60/session_011/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM60/session_011/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM60/session_011/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM60/session_012/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM60/session_012/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM60/session_012/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM60/session_012/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM60/session_012/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM60/session_012/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM60/session_012/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM60/session_012/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM60/session_012/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM61/session_012/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomanipulation/LM61/session_012/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text

actions/locomanipulation/LM59/session_022/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfbdc9b29e78326d83b75a6ea19fba0919c77a1655e250e5ee6ffb7ced13d0f2
+size 1265664

actions/locomanipulation/LM59/session_022/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b389fdc0e7464071d7dbacadc2fb5fc87564bbadde6ea25bbde183d0ed3944ad
+size 1212416

actions/locomanipulation/LM59/session_022/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:001583111256af70d00e384b329d9f892c0499f5c3c7dba7845e85274a7a8cc7
+size 331776

actions/locomanipulation/LM59/session_022/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:596c050364cffcfc8ae25b63b6642bcb405bd5dfaebda2cbf88214f323a241e4
+size 1228800

actions/locomanipulation/LM59/session_022/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43cd30127ae29c559fab6940bb083ebd64bbdb5bc106b39921402083d8871a74
+size 1220608

actions/locomanipulation/LM59/session_022/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41e61d0e94e70e1f4530a61b79ebf6340e181012fdff2a0e7663c1c267f54b4f
+size 315392

actions/locomanipulation/LM59/session_022/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:708fe6849914f9a55fee3808be57b849587cc5a4362a7c43a55ca1585d07e28f
+size 315392

actions/locomanipulation/LM59/session_022/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea1a47ccee4eef2eabe9b668c4c21200f96a5a2428785d9491f04750dc1568ea
+size 1317790

actions/locomanipulation/LM59/session_022/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b45f4819e43bd86df4a866afab2edf3c46486d93137b510abf9335c1dc94e7cb
+size 115200

actions/locomanipulation/LM59/session_022/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59476c507bb5b1a680cb658eff2d9d74a994dac2d5ac7aa436791d5915eb60e0
+size 1400835

actions/locomanipulation/LM59/session_022/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9620ca3d6dec4551c005216bd5815ec4ebc5ce5bf95c5ad609234094ccc5e5c
+size 267756

actions/locomanipulation/LM59/session_022/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8a5076a2d698d171edbf3f6844791621ff28385c23c40697b93ad0299f49e6d
+size 247319

actions/locomanipulation/LM59/session_022/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcd708d8e9f338d46d6947fa268bd1517d920063becbe27bb3a7d2b955ee4299
+size 61140831

actions/locomanipulation/LM59/session_022/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8a3bc7b6be6967754fc67c22a40792eae78dca349d2b3b3dfd6a489a4fb6674
+size 61139953

actions/locomanipulation/LM59/session_022/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f6df6f1b5288b37f7d381f4a7ede6284d73e08962beec4e02c92dbc752376cb
+size 61136387

actions/locomanipulation/LM59/session_022/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0d512681f7f7bfe72786aeeb36f6aea10afd74c6d930b9d9f4d996d286f51ac
+size 61074845

actions/locomanipulation/LM59/session_022/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03e38808eac03464586b7b10afbccc6cf3775be400d44a410617310a8e074597
+size 61098113

actions/locomanipulation/LM59/session_022/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32b9bd369c7d68dfdbe04281f2c6fb343de6346e8c774ba84f15ef2d0a73332a
+size 61160730

actions/locomanipulation/LM59/session_022/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e871c758f87870fd1e66632c0a79d24d9ac6b39b47419a78f06569ab246c924
+size 41517098

actions/locomanipulation/LM59/session_022/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfacae8c55555047fee408c063668d0adf3bcb590915691bb8af20e8211d7851
+size 40493143

actions/locomanipulation/LM59/session_022/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:535415d06e3d307a158618182466383606000f9b4c6b2d749305967b80b7c1d9
+size 41043837

actions/locomanipulation/LM60/session_001/annotations.json

@@ -0,0 +1,39 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 3)",
+ "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": "LM60",
+ "instruction": "Carry the soft bag across the room, back and forth. It will change shape as you move, so hold it however works.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 138.9666,
+   "video": "left_eye",
+   "video_t_start": 0.03874487289605133
+  }
+ ],
+ "episodes": [
+  {
+   "id": "4a327816-e56d-413d-902c-863d4a9d2ebd",
+   "segment": "segment1",
+   "action": "LM60",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 69.411,
+   "t_start": 0.0387,
+   "t_end": 69.4497,
+   "instruction": "Carry the soft bag across the room, back and forth. It will change shape as you move, so hold it however works."
+  },
+  {
+   "id": "6418f32c-4bef-48b9-9ab1-00ce2fe85393",
+   "segment": "segment1",
+   "action": "LM60",
+   "quality": "valid",
+   "start_s": 73.889,
+   "end_s": 132.885,
+   "t_start": 73.9277,
+   "t_end": 132.9237,
+   "instruction": "Carry the soft bag across the room, back and forth. It will change shape as you move, so hold it however works."
+  }
+ ]
+}

actions/locomanipulation/LM60/session_001/cameras/gsi_online_calibration.json

@@ -0,0 +1,261 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.342
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 0.8639,
+   "gate_fail": [],
+   "held_out_px_after": 0.467,
+   "held_out_px_before": 2.925,
+   "inliers": 4335,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.6103,
+    -0.3181,
+    -0.5222
+   ],
+   "split_deg": 0.0927,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.8094,
+   "gate_fail": [],
+   "held_out_px_after": 0.341,
+   "held_out_px_before": 6.755,
+   "inliers": 6958,
+   "position_fitted": true,
+   "position_mm": [
+    -2.62,
+    -3.38,
+    2.03
+   ],
+   "position_sigma_mm": 0.367,
+   "position_split_mm": 2.894,
+   "rotvec_deg": [
+    0.506,
+    0.6556,
+    -1.6088
+   ],
+   "split_deg": 0.0412,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 1.1702,
+   "gate_fail": [],
+   "held_out_px_after": 0.675,
+   "held_out_px_before": 3.272,
+   "inliers": 765,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.0026,
+    -0.3573,
+    0.4863
+   ],
+   "split_deg": 0.1842,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.8449,
+   "gate_fail": [],
+   "held_out_px_after": 0.333,
+   "held_out_px_before": 2.46,
+   "inliers": 7451,
+   "position_fitted": false,
+   "position_rejected": {
+    "position_mm": [
+     2.63,
+     -8.33,
+     7.59
+    ],
+    "position_sigma_mm": 0.401,
+    "position_split_mm": 6.076
+   },
+   "rotvec_deg": [
+    0.6826,
+    -0.4221,
+    -0.2641
+   ],
+   "split_deg": 0.0192,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0712,
+   "gate_fail": [],
+   "held_out_px_after": 0.302,
+   "held_out_px_before": 5.04,
+   "inliers": 5932,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3669,
+    -0.0652,
+    -1.0043
+   ],
+   "split_deg": 0.0131,
+   "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": "286a4aee0a53df0392fab3e54e92ee6cad9d88ef6f4b28c9a025f4137b0694d1",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "ad5f926aeeeb3d7dfdb18ef2bd4512f0bb63eeef0e821699f00d34b108e6e56d",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "571481d3d913c030d8b6b2d0111c58c3ed1ef8f0e936bfd7b166d058c96d5df5",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "24aae33d2feec837878c50bf24bc1e83a1228ccad7fa3a2e3805d3daae506ace",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "c6dad052c91286c4",
+ "kind": "online_calibration",
+ "output_sha256": "e6a3efed4f3953b518318639732afa3a8d4ca49173f2fbf42735b69cfa4e79e2",
+ "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": 36.793,
+  "left_eye": 31.276,
+  "left_front": 39.368,
+  "right": 34.814,
+  "right_eye": 30.385,
+  "right_front": 37.768
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   7372159841888,
+   7373159841888,
+   7375159830777,
+   7376159875222,
+   7378159941888,
+   7379159830777,
+   7383159830777,
+   7384159830777,
+   7389159830777,
+   7390159841888,
+   7394159808555,
+   7395159808555,
+   7398159853000,
+   7399159841888,
+   7403159819666,
+   7404159841888,
+   7407159841888,
+   7408159841888,
+   7413159830777,
+   7414159841888,
+   7417159853000,
+   7418159830777,
+   7422159841888,
+   7423159830777,
+   7424159841888,
+   7430159841888,
+   7431159830777,
+   7434159830777,
+   7435159841888,
+   7437159853000,
+   7438159841888,
+   7441159841888,
+   7442159841888,
+   7448159875222,
+   7449159830777,
+   7451159841888,
+   7452159808555,
+   7457159853000,
+   7458159841888,
+   7462159853000,
+   7463159853000,
+   7466159841888,
+   7467159864111,
+   7471159830777,
+   7472159830777,
+   7476159830777,
+   7477159830777,
+   7478159841888,
+   7482159841888,
+   7483159819666,
+   7487159808555,
+   7488159841888,
+   7492159841888,
+   7493159841888,
+   7495159830777,
+   7496159841888,
+   7499159830777,
+   7500159830777
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM60/session_001/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9ca547eeaefacc2b04a2567817cd435138bf0f78e7dc69e4ca15ea10cb66d34
+size 799096

actions/locomanipulation/LM60/session_001/meta.json

@@ -329,8 +329,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -514,10 +514,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.936514964461848
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 23.35,
+    "offset_rotvec": [
+     0.0186,
+     -0.2567,
+     -0.316
+    ],
+    "dev_deg": {
+     "median": 21.6,
+     "p90": 43.89
+    },
+    "samples": 2319,
+    "accepted": 1569,
+    "wrist_pos_err_mm_median": 92.4,
+    "per_camera": {
+     "head": {
+      "samples": 2319,
+      "accepted": 1569,
+      "gate_deg": 30.0,
+      "offset_deg": 23.35,
+      "tier": "primary",
+      "dev_deg_median": 21.6,
+      "wrist_pos_err_mm_median": 92.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 6408,
+     "interpolated": 3972,
+     "mean_hand": 6086,
+     "no_body_fit": 218
+    },
+    "observed_fraction": 0.6222,
+    "observed_fraction_of_valid": 0.6304,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 23.2,
+     "smplx": 0.8
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 11.4,
+      "p90": 15.1
+     },
+     "registered": {
+      "median": 14.0,
+      "p90": 14.8
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 13.86,
+    "offset_rotvec": [
+     0.0552,
+     0.2211,
+     0.0812
+    ],
+    "dev_deg": {
+     "median": 14.3,
+     "p90": 36.21
+    },
+    "samples": 3791,
+    "accepted": 3188,
+    "wrist_pos_err_mm_median": 91.8,
+    "per_camera": {
+     "head": {
+      "samples": 3791,
+      "accepted": 3188,
+      "gate_deg": 30.0,
+      "offset_deg": 13.86,
+      "tier": "primary",
+      "dev_deg_median": 14.3,
+      "wrist_pos_err_mm_median": 91.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12930,
+     "interpolated": 2454,
+     "mean_hand": 1082,
+     "no_body_fit": 218
+    },
+    "observed_fraction": 0.9221,
+    "observed_fraction_of_valid": 0.9343,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.93,
+     "smplx": 0.42
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.2,
+      "p90": 6.7
+     },
+     "registered": {
+      "median": 6.2,
+      "p90": 6.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T16:27:58.646742+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/LM60/session_001",
   "family": "locomanipulation",
   "primitive": "LM60",
   "source_session": "20260910/LM60/20260910_022725_session39"
+ },
+ "task": {
+  "primitive": "LM60",
+  "instruction": "Carry the soft bag across the room, back and forth. It will change shape as you move, so hold it however works."
  }
 }

actions/locomanipulation/LM60/session_001/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6957023e232d1c8df498507284ea582acde93c81313f21231e636e940048f8f8
+size 4245100

actions/locomanipulation/LM60/session_001/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a200b7244a254c4e7e0058a1aa84938bbde819ab77af4f18f791165754139268
-size 6312556
+oid sha256:0ad5ac0419dfcae21ad03060d2a3a1cee710998b7882a8d135d11e356a7469b0
+size 10981928

actions/locomanipulation/LM60/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": "LM60",
+ "instruction": "Carry the soft bag across the room, back and forth. It will change shape as you move, so hold it however works.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 73.966556,
+   "video": "left_eye",
+   "video_t_start": 0.03865299652189358
+  }
+ ],
+ "episodes": [
+  {
+   "id": "b78f3cee-e6cf-4493-9a5f-b9b9ef25c1ef",
+   "segment": "segment1",
+   "action": "LM60",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 67.24,
+   "t_start": 0.0387,
+   "t_end": 67.2787,
+   "instruction": "Carry the soft bag across the room, back and forth. It will change shape as you move, so hold it however works."
+  }
+ ]
+}

actions/locomanipulation/LM60/session_002/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3568943b17f8a459d8f62f2d0f38052bcfba4739c5e4c0030e8fdd7afc6d967
+size 428223

actions/locomanipulation/LM60/session_002/meta.json

@@ -326,8 +326,8 @@
   "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": {
@@ -512,10 +512,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.8254800966907618
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 17.6,
+    "offset_rotvec": [
+     0.228,
+     -0.1197,
+     0.1674
+    ],
+    "dev_deg": {
+     "median": 15.19,
+     "p90": 28.59
+    },
+    "samples": 1378,
+    "accepted": 1256,
+    "wrist_pos_err_mm_median": 177.5,
+    "per_camera": {
+     "head": {
+      "samples": 1378,
+      "accepted": 1256,
+      "gate_deg": 30.0,
+      "offset_deg": 17.6,
+      "tier": "primary",
+      "dev_deg_median": 15.19,
+      "wrist_pos_err_mm_median": 177.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 5274,
+     "interpolated": 3594,
+     "mean_hand": 12,
+     "no_body_fit": 4
+    },
+    "observed_fraction": 0.9982,
+    "observed_fraction_of_valid": 0.9986,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.99,
+     "smplx": 0.38
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.6,
+      "p90": 10.3
+     },
+     "registered": {
+      "median": 7.7,
+      "p90": 9.9
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 21.3,
+    "offset_rotvec": [
+     0.161,
+     0.3266,
+     0.0744
+    ],
+    "dev_deg": {
+     "median": 23.11,
+     "p90": 41.94
+    },
+    "samples": 1358,
+    "accepted": 1007,
+    "wrist_pos_err_mm_median": 143.5,
+    "per_camera": {
+     "head": {
+      "samples": 1358,
+      "accepted": 1007,
+      "gate_deg": 30.0,
+      "offset_deg": 21.3,
+      "tier": "primary",
+      "dev_deg_median": 23.11,
+      "wrist_pos_err_mm_median": 143.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 4194,
+     "interpolated": 3582,
+     "mean_hand": 1104,
+     "no_body_fit": 4
+    },
+    "observed_fraction": 0.8753,
+    "observed_fraction_of_valid": 0.8757,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 21.6,
+     "smplx": 0.86
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.6,
+      "p90": 7.8
+     },
+     "registered": {
+      "median": 5.9,
+      "p90": 7.2
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T16:27:34.324194+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/LM60/session_002",
   "family": "locomanipulation",
   "primitive": "LM60",
   "source_session": "20260910/LM60/20260910_092944_session167"
+ },
+ "task": {
+  "primitive": "LM60",
+  "instruction": "Carry the soft bag across the room, back and forth. It will change shape as you move, so hold it however works."
  }
 }

actions/locomanipulation/LM60/session_002/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2756c0fbc031dd23905ed419a42c93aaadad1a0d8fe9fcd205947525496e5941
+size 1918779

actions/locomanipulation/LM60/session_002/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:415eb26b0f1eba683029d3e671e91aacb35d9b7f48e3688fbbb2b8d2c87d3c81
-size 3429441
+oid sha256:7b6e5ca001d96685e324a33f5154551ff862831d61ea7b8fa3942098105e4760
+size 6275801

actions/locomanipulation/LM60/session_003/annotations.json

@@ -0,0 +1,39 @@
+{
+ "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": "LM60",
+ "instruction": "Carry the soft bag across the room, back and forth. It will change shape as you move, so hold it however works.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 138.966767,
+   "video": "left_eye",
+   "video_t_start": 0.03918231839893571
+  }
+ ],
+ "episodes": [
+  {
+   "id": "6c6b39ea-ad51-462d-89fa-98634d5235f1",
+   "segment": "segment1",
+   "action": "LM60",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 72.83,
+   "t_start": 0.0392,
+   "t_end": 72.8692,
+   "instruction": "Carry the soft bag across the room, back and forth. It will change shape as you move, so hold it however works."
+  },
+  {
+   "id": "9b55b829-3111-45d7-8988-f7d787839661",
+   "segment": "segment1",
+   "action": "LM60",
+   "quality": "valid",
+   "start_s": 73.592,
+   "end_s": 131.712,
+   "t_start": 73.6312,
+   "t_end": 131.7512,
+   "instruction": "Carry the soft bag across the room, back and forth. It will change shape as you move, so hold it however works."
+  }
+ ]
+}

actions/locomanipulation/LM60/session_003/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43540552b01d8b7ac962678787e732c76615659dad4dec4ab9b5308efef9f2f5
+size 800621

actions/locomanipulation/LM60/session_003/meta.json

@@ -326,8 +326,8 @@
   "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": {
@@ -513,10 +513,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.7983325704325991
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 36.74,
+    "offset_rotvec": [
+     0.5554,
+     -0.2989,
+     -0.1154
+    ],
+    "dev_deg": {
+     "median": 16.99,
+     "p90": 35.64
+    },
+    "samples": 2336,
+    "accepted": 1909,
+    "wrist_pos_err_mm_median": 285.6,
+    "per_camera": {
+     "head": {
+      "samples": 2336,
+      "accepted": 1909,
+      "gate_deg": 30.0,
+      "offset_deg": 36.74,
+      "tier": "primary",
+      "dev_deg_median": 16.99,
+      "wrist_pos_err_mm_median": 285.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 8178,
+     "interpolated": 8306,
+     "mean_hand": 200,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.988,
+    "observed_fraction_of_valid": 0.988,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 49.46,
+     "smplx": 0.41
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 16.7,
+      "p90": 20.3
+     },
+     "registered": {
+      "median": 16.5,
+      "p90": 19.8
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 45.68,
+    "offset_rotvec": [
+     0.7082,
+     -0.0976,
+     0.3529
+    ],
+    "dev_deg": {
+     "median": 20.75,
+     "p90": 41.28
+    },
+    "samples": 1491,
+    "accepted": 1121,
+    "wrist_pos_err_mm_median": 271.9,
+    "per_camera": {
+     "head": {
+      "samples": 1491,
+      "accepted": 1121,
+      "gate_deg": 30.0,
+      "offset_deg": 45.68,
+      "tier": "primary",
+      "dev_deg_median": 20.75,
+      "wrist_pos_err_mm_median": 271.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 4702,
+     "interpolated": 6646,
+     "mean_hand": 5336,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.6802,
+    "observed_fraction_of_valid": 0.6802,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 49.84,
+     "smplx": 0.71
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 17.4,
+      "p90": 26.9
+     },
+     "registered": {
+      "median": 17.0,
+      "p90": 26.6
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:51:19.704898+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/LM60/session_003",
   "family": "locomanipulation",
   "primitive": "LM60",
   "source_session": "20260920/LM60/20260920_014146_session22"
+ },
+ "task": {
+  "primitive": "LM60",
+  "instruction": "Carry the soft bag across the room, back and forth. It will change shape as you move, so hold it however works."
  }
 }

actions/locomanipulation/LM60/session_003/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d722eec6b800f4495852635aeeac3259178693c0cbbbdb1d0a9f3c37bf0e470
+size 2753638

actions/locomanipulation/LM60/session_003/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:fffb6099776f21046fa223b224243241d809e77e0a50f738571ec044451709b0
-size 6430477
+oid sha256:896f8df4913c4a2c2a664c360c96eb8088f07092376da33613637bc4720f8f1e
+size 11391286

actions/locomanipulation/LM60/session_004/annotations.json

@@ -0,0 +1,39 @@
+{
+ "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": "LM60",
+ "instruction": "Carry the soft bag across the room, back and forth. It will change shape as you move, so hold it however works.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 148.966567,
+   "video": "left_eye",
+   "video_t_start": 0.03873773503935496
+  }
+ ],
+ "episodes": [
+  {
+   "id": "120184c8-6146-486f-b145-99e7001fc676",
+   "segment": "segment1",
+   "action": "LM60",
+   "quality": "valid",
+   "start_s": 1.62,
+   "end_s": 68.595,
+   "t_start": 1.6587,
+   "t_end": 68.6337,
+   "instruction": "Carry the soft bag across the room, back and forth. It will change shape as you move, so hold it however works."
+  },
+  {
+   "id": "366efa35-c42f-4c48-acae-0c839760ba4a",
+   "segment": "segment1",
+   "action": "LM60",
+   "quality": "valid",
+   "start_s": 72.259,
+   "end_s": 143.836,
+   "t_start": 72.2977,
+   "t_end": 143.8747,
+   "instruction": "Carry the soft bag across the room, back and forth. It will change shape as you move, so hold it however works."
+  }
+ ]
+}

actions/locomanipulation/LM60/session_004/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b67e358b40c9f2aba7674bc3ca11c58162792ebde4d890549be513816b1b95b
+size 857764