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

actions/locomanipulation/LM14/session_009/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8ea6a74f8abbd88839f53f27d552628cfceff78050f7a27234fb808de4286390
-size 5960019
+oid sha256:899c7dabecd14c216d37ea0f1bc0de5e410d21628497d1516edb23f4f0b774b9
+size 11049553

actions/locomanipulation/LM14/session_010/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": "LM14",
+ "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 138.966667,
+   "video": "left_eye",
+   "video_t_start": 0.03892738149739605
+  }
+ ],
+ "episodes": [
+  {
+   "id": "2fc5aa35-d5cb-48a6-afff-67103cd977c0",
+   "segment": "segment1",
+   "action": "LM14",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 135.057,
+   "t_start": 0.0389,
+   "t_end": 135.0959,
+   "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to."
+  }
+ ]
+}

actions/locomanipulation/LM14/session_010/cameras/gsi_online_calibration.json

@@ -0,0 +1,259 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.355
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.2275,
+   "gate_fail": [],
+   "held_out_px_after": 0.457,
+   "held_out_px_before": 4.381,
+   "inliers": 2095,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.5906,
+    -0.3886,
+    -1.0035
+   ],
+   "split_deg": 0.0898,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9534,
+   "gate_fail": [],
+   "held_out_px_after": 0.367,
+   "held_out_px_before": 6.561,
+   "inliers": 2752,
+   "position_fitted": false,
+   "position_rejected": {
+    "position_mm": [
+     1.58,
+     -11.06,
+     13.58
+    ],
+    "position_sigma_mm": 0.569,
+    "position_split_mm": 15.708
+   },
+   "rotvec_deg": [
+    0.3808,
+    0.6427,
+    -1.8049
+   ],
+   "split_deg": 0.0657,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.6362,
+   "gate_fail": [],
+   "held_out_px_after": 0.885,
+   "held_out_px_before": 5.606,
+   "inliers": 808,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.5296,
+    -0.5249,
+    0.249
+   ],
+   "split_deg": 0.0374,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.9028,
+   "gate_fail": [],
+   "held_out_px_after": 0.359,
+   "held_out_px_before": 3.882,
+   "inliers": 2823,
+   "position_fitted": false,
+   "position_rejected": {
+    "position_mm": [
+     8.75,
+     -13.51,
+     13.35
+    ],
+    "position_sigma_mm": 0.529,
+    "position_split_mm": 16.563
+   },
+   "rotvec_deg": [
+    0.631,
+    -0.4771,
+    -0.435
+   ],
+   "split_deg": 0.1065,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.3817,
+   "gate_fail": [],
+   "held_out_px_after": 0.309,
+   "held_out_px_before": 5.307,
+   "inliers": 3280,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.4631,
+    -0.0722,
+    -1.2998
+   ],
+   "split_deg": 0.0078,
+   "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": "0929a3fd3c72c7ff77ff4e22521a9faf74b80c6d455c204bb9a39d1f259db06a",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "773df8b70d8145ff27dd83092b64b9342f8271b39142e338cef6cc19b507dcaf",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "8d3804b247066981cb0f27e38d6f9bd39fc98b2babdf7f18ca4686258f164019",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "3598132c1c8a893df99be78cdec6fb0edfad3ae564c534c739dd3ccf46865911",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "c9cf2638b31cec8f",
+ "kind": "online_calibration",
+ "output_sha256": "aa9ea6be67d8dfad3191b3d42afe13fde7a5fd7929a2a33f768eb51be0a363de",
+ "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": 29.453,
+  "left_eye": 27.136,
+  "left_front": 35.517,
+  "right": 32.181,
+  "right_eye": 26.644,
+  "right_front": 33.279
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   4465806871555,
+   4466806816000,
+   4470806782666,
+   4471806771555,
+   4476806860444,
+   4477806827111,
+   4480806804888,
+   4481806893777,
+   4485806782666,
+   4486806827111,
+   4487806827111,
+   4491806838222,
+   4492806793777,
+   4496806816000,
+   4497806793777,
+   4503806782666,
+   4504806882666,
+   4505806949333,
+   4508806827111,
+   4509806782666,
+   4514806827111,
+   4515806838222,
+   4519806838222,
+   4520806860444,
+   4525806827111,
+   4526806793777,
+   4530806816000,
+   4531806838222,
+   4532806849333,
+   4535806893777,
+   4536806793777,
+   4542806849333,
+   4543806782666,
+   4545806816000,
+   4546806793777,
+   4550806782666,
+   4551806793777,
+   4556806827111,
+   4557806838222,
+   4558806804888,
+   4559806960444,
+   4562806793777,
+   4563806838222,
+   4568806849333,
+   4569806782666,
+   4574806882666,
+   4575806827111,
+   4576806816000,
+   4580806782666,
+   4581806827111,
+   4584806838222,
+   4585806838222,
+   4590806860444,
+   4591806771555,
+   4593806782666,
+   4594806782666
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM14/session_010/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:823dbb4a75caa50dda4407e35c465ec56d6382024454d16ca04567579d7a2415
+size 802356

actions/locomanipulation/LM14/session_010/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": {
@@ -508,10 +508,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.2900853520567361
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 17.82,
+    "offset_rotvec": [
+     0.2628,
+     -0.1658,
+     -0.012
+    ],
+    "dev_deg": {
+     "median": 16.89,
+     "p90": 53.2
+    },
+    "samples": 1802,
+    "accepted": 1401,
+    "wrist_pos_err_mm_median": 73.8,
+    "per_camera": {
+     "head": {
+      "samples": 1802,
+      "accepted": 1401,
+      "gate_deg": 30.0,
+      "offset_deg": 17.82,
+      "tier": "primary",
+      "dev_deg_median": 16.89,
+      "wrist_pos_err_mm_median": 73.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 5616,
+     "interpolated": 2140,
+     "mean_hand": 8912,
+     "no_body_fit": 16
+    },
+    "observed_fraction": 0.4649,
+    "observed_fraction_of_valid": 0.4653,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 19.37,
+     "smplx": 0.75
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 12.0,
+      "p90": 20.9
+     },
+     "registered": {
+      "median": 11.6,
+      "p90": 20.2
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 28.32,
+    "offset_rotvec": [
+     0.4124,
+     -0.2683,
+     0.0471
+    ],
+    "dev_deg": {
+     "median": 17.61,
+     "p90": 44.02
+    },
+    "samples": 1950,
+    "accepted": 1453,
+    "wrist_pos_err_mm_median": 80.4,
+    "per_camera": {
+     "head": {
+      "samples": 1950,
+      "accepted": 1453,
+      "gate_deg": 30.0,
+      "offset_deg": 28.32,
+      "tier": "primary",
+      "dev_deg_median": 17.61,
+      "wrist_pos_err_mm_median": 80.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 5779,
+     "interpolated": 848,
+     "mean_hand": 10041,
+     "no_body_fit": 16
+    },
+    "observed_fraction": 0.3972,
+    "observed_fraction_of_valid": 0.3976,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 25.25,
+     "smplx": 1.01
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 15.6,
+      "p90": 27.2
+     },
+     "registered": {
+      "median": 15.4,
+      "p90": 26.1
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:57:33.725406+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/LM14/session_010",
   "family": "locomanipulation",
   "primitive": "LM14",
   "source_session": "20260919/LM14/20260919_114436_session201"
+ },
+ "task": {
+  "primitive": "LM14",
+  "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to."
  }
 }

actions/locomanipulation/LM14/session_010/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c6001146c1fe0ddda90773c1c9b01e56aeb10f8ccf27ac1bb2193177370cc1c
+size 2656072

actions/locomanipulation/LM14/session_010/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:fac2e843029687b72f581e7332b2ed0c9efeb73f886b5908772713ce6e8b0b78
-size 6437634
+oid sha256:7365d3b4838b95bb222095267a14b396cea263512288b3ec64de28a77b480ef5
+size 9197243

actions/locomanipulation/LM14/session_011/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": "LM14",
+ "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 133.966656,
+   "video": "left_eye",
+   "video_t_start": 0.03924275924397991
+  }
+ ],
+ "episodes": [
+  {
+   "id": "bc5c287d-eb70-473a-bf29-4cf3f6777eac",
+   "segment": "segment1",
+   "action": "LM14",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 128.166,
+   "t_start": 0.0392,
+   "t_end": 128.2052,
+   "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to."
+  }
+ ]
+}

actions/locomanipulation/LM14/session_011/cameras/gsi_online_calibration.json

@@ -0,0 +1,255 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.333
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.1453,
+   "gate_fail": [],
+   "held_out_px_after": 0.417,
+   "held_out_px_before": 4.314,
+   "inliers": 2168,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.4495,
+    -0.4273,
+    -0.9629
+   ],
+   "split_deg": 0.0844,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9328,
+   "gate_fail": [],
+   "held_out_px_after": 0.341,
+   "held_out_px_before": 6.58,
+   "inliers": 2596,
+   "position_fitted": true,
+   "position_mm": [
+    -0.9,
+    -9.59,
+    12.59
+   ],
+   "position_sigma_mm": 0.354,
+   "position_split_mm": 1.951,
+   "rotvec_deg": [
+    0.1705,
+    0.5059,
+    -1.8576
+   ],
+   "split_deg": 0.0276,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.6415,
+   "gate_fail": [],
+   "held_out_px_after": 0.538,
+   "held_out_px_before": 5.402,
+   "inliers": 809,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.4353,
+    -0.7896,
+    0.1043
+   ],
+   "split_deg": 0.0784,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.8369,
+   "gate_fail": [],
+   "held_out_px_after": 0.314,
+   "held_out_px_before": 3.987,
+   "inliers": 2606,
+   "position_fitted": true,
+   "position_mm": [
+    9.52,
+    -10.49,
+    12.81
+   ],
+   "position_sigma_mm": 0.397,
+   "position_split_mm": 1.876,
+   "rotvec_deg": [
+    0.359,
+    -0.6025,
+    -0.4566
+   ],
+   "split_deg": 0.0173,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.3672,
+   "gate_fail": [],
+   "held_out_px_after": 0.303,
+   "held_out_px_before": 5.006,
+   "inliers": 2893,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.452,
+    -0.0503,
+    -1.2893
+   ],
+   "split_deg": 0.013,
+   "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": "e68c4aa2720aa07292ea62cb156ee08be96dc05ebd4c7d2376586f404b41d8b1",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "0445af7244e768106b5f62a2d7e079d260c28da27119bd5748194544af88a016",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "ca0d0c661fd3b2e882f08beba187fff298d918dcf4e5684b2bd908c61833ed11",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "700216ec1c6820e36b9c75a4586af84fa840f0c81d3b69760eecac79ae8255b5",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "910b14aa2ac69087",
+ "kind": "online_calibration",
+ "output_sha256": "c2f4a5144d11a044593c2f35de5584441e6e920ad0adbf6a988bc3a5a317002d",
+ "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": 29.289,
+  "left_eye": 26.948,
+  "left_front": 36.536,
+  "right": 33.131,
+  "right_eye": 26.842,
+  "right_front": 36.323
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   4616647470000,
+   4617647525555,
+   4620647481111,
+   4621647536666,
+   4622647570000,
+   4623647470000,
+   4628647558888,
+   4629647570000,
+   4632647470000,
+   4633647525555,
+   4638647492222,
+   4639647492222,
+   4640647525555,
+   4643647536666,
+   4644647481111,
+   4648647481111,
+   4649647547777,
+   4654647481111,
+   4655647503333,
+   4656647470000,
+   4657647558888,
+   4660647470000,
+   4661647536666,
+   4667647492222,
+   4668647525555,
+   4670647492222,
+   4671647492222,
+   4676647481111,
+   4677647492222,
+   4678647481111,
+   4683647481111,
+   4684647470000,
+   4689647536666,
+   4690647614444,
+   4694647492222,
+   4695647536666,
+   4696647570000,
+   4699647514444,
+   4700647536666,
+   4706647503333,
+   4707647481111,
+   4710647481111,
+   4711647481111,
+   4715647658888,
+   4716647492222,
+   4717647481111,
+   4718647492222,
+   4723647481111,
+   4724647570000,
+   4728647470000,
+   4729647481111,
+   4730647481111,
+   4734647481111,
+   4735647536666,
+   4740647481111,
+   4741647492222
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM14/session_011/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c4cc156eb0ff1780a7cf56814cd71cd69f07fc30b60ff75f7c0cfd2369a8a09
+size 773843

actions/locomanipulation/LM14/session_011/meta.json

@@ -328,8 +328,8 @@
   "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": {
@@ -552,10 +552,124 @@
   },
   "applied": 1
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 19.63,
+    "offset_rotvec": [
+     0.3263,
+     0.0839,
+     0.062
+    ],
+    "dev_deg": {
+     "median": 37.49,
+     "p90": 69.4
+    },
+    "samples": 1476,
+    "accepted": 455,
+    "wrist_pos_err_mm_median": 174.0,
+    "per_camera": {
+     "head": {
+      "samples": 1476,
+      "accepted": 455,
+      "gate_deg": 30.0,
+      "offset_deg": 19.63,
+      "tier": "primary",
+      "dev_deg_median": 37.49,
+      "wrist_pos_err_mm_median": 174.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 1760,
+     "interpolated": 1324,
+     "mean_hand": 13000,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.1917,
+    "observed_fraction_of_valid": 0.1917,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 35.54,
+     "smplx": NaN
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": NaN,
+      "p90": NaN
+     },
+     "registered": {
+      "median": NaN,
+      "p90": NaN
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 28.32,
+    "offset_rotvec": [
+     0.1609,
+     -0.4514,
+     0.1208
+    ],
+    "dev_deg": {
+     "median": 23.79,
+     "p90": 67.41
+    },
+    "samples": 544,
+    "accepted": 344,
+    "wrist_pos_err_mm_median": 171.9,
+    "per_camera": {
+     "head": {
+      "samples": 544,
+      "accepted": 344,
+      "gate_deg": 30.0,
+      "offset_deg": 28.32,
+      "tier": "primary",
+      "dev_deg_median": 23.79,
+      "wrist_pos_err_mm_median": 171.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 1316,
+     "interpolated": 1158,
+     "mean_hand": 13610,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.1538,
+    "observed_fraction_of_valid": 0.1538,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 37.81,
+     "smplx": 1.43
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 16.7,
+      "p90": 26.9
+     },
+     "registered": {
+      "median": 16.3,
+      "p90": 25.6
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:57:12.095067+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/LM14/session_011",
   "family": "locomanipulation",
   "primitive": "LM14",
   "source_session": "20260919/LM14/20260919_114706_session202"
+ },
+ "task": {
+  "primitive": "LM14",
+  "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to."
  }
 }

actions/locomanipulation/LM14/session_011/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb97957326a2f567eb1518bb3c627d36cc274b1f3b8aec8a6924f7d911f6338d
+size 1551070

actions/locomanipulation/LM14/session_011/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:63185922101a9adeebfd56d5e6380dced238912a0929f1077a490f4782d6879b
-size 6218683
+oid sha256:7611347098f66b8b9d45101bedad454890841c6bf8236d8aea54b27f17bbc244
+size 7593988

actions/locomanipulation/LM14/session_012/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": "LM14",
+ "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 138.966711,
+   "video": "left_eye",
+   "video_t_start": 0.03890793284082772
+  }
+ ],
+ "episodes": [
+  {
+   "id": "071b9fbf-09f4-4eb1-8934-489aa065e7fa",
+   "segment": "segment1",
+   "action": "LM14",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 133.75,
+   "t_start": 0.0389,
+   "t_end": 133.7889,
+   "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to."
+  }
+ ]
+}

actions/locomanipulation/LM14/session_012/cameras/gsi_online_calibration.json

@@ -0,0 +1,255 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.384
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.9103,
+   "gate_fail": [],
+   "held_out_px_after": 0.508,
+   "held_out_px_before": 3.909,
+   "inliers": 2179,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.046,
+    -0.6762,
+    -0.6077
+   ],
+   "split_deg": 0.105,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.7935,
+   "gate_fail": [],
+   "held_out_px_after": 0.373,
+   "held_out_px_before": 5.549,
+   "inliers": 3305,
+   "position_fitted": true,
+   "position_mm": [
+    7.44,
+    -16.87,
+    6.66
+   ],
+   "position_sigma_mm": 0.206,
+   "position_split_mm": 1.287,
+   "rotvec_deg": [
+    -0.099,
+    0.4908,
+    -1.7221
+   ],
+   "split_deg": 0.0549,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.3251,
+   "gate_fail": [],
+   "held_out_px_after": 0.514,
+   "held_out_px_before": 4.603,
+   "inliers": 1959,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.2054,
+    -0.5489,
+    0.0406
+   ],
+   "split_deg": 0.0861,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.6643,
+   "gate_fail": [],
+   "held_out_px_after": 0.348,
+   "held_out_px_before": 3.67,
+   "inliers": 3297,
+   "position_fitted": true,
+   "position_mm": [
+    6.68,
+    -18.91,
+    7.12
+   ],
+   "position_sigma_mm": 0.198,
+   "position_split_mm": 0.969,
+   "rotvec_deg": [
+    0.0622,
+    -0.5424,
+    -0.3785
+   ],
+   "split_deg": 0.051,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.3874,
+   "gate_fail": [],
+   "held_out_px_after": 0.37,
+   "held_out_px_before": 5.921,
+   "inliers": 4107,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.4285,
+    -0.0034,
+    -1.3196
+   ],
+   "split_deg": 0.0125,
+   "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": "cc22eabd2380c5b417795c930e57cecf12ae5000248fbd583b29d869be605b84",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "7f2f0ebf6f27113156233a30fdd7253315200e2560d50a8250cd5dd1fd7d92de",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "c899e42f5062a378f76b07599cb92b5be8e918cd8f7f41dd935540d7443ca756",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "66926133ac20c2ea6f3a7851de2c59fef73046f17af0e91780a5b3d3b8041fa3",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "acfd07af4d130305",
+ "kind": "online_calibration",
+ "output_sha256": "3d489e28d8449d087bb45dd07a680e2e7996933b5c2b6cd697cddfc320531ee2",
+ "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": 39.439,
+  "left_eye": 33.082,
+  "left_front": 39.158,
+  "right": 37.946,
+  "right_eye": 33.239,
+  "right_front": 37.943
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   20204135161888,
+   20205135161888,
+   20207135173000,
+   20208135195222,
+   20212135173000,
+   20213135173000,
+   20216135161888,
+   20217135284111,
+   20219135161888,
+   20220135173000,
+   20226135250777,
+   20227135261888,
+   20228135184111,
+   20232135150777,
+   20233135161888,
+   20236135161888,
+   20237135161888,
+   20243135195222,
+   20244135161888,
+   20249135217444,
+   20250135217444,
+   20251135217444,
+   20252135173000,
+   20256135217444,
+   20257135173000,
+   20260135228555,
+   20261135173000,
+   20265135161888,
+   20266135206333,
+   20268135239666,
+   20269135217444,
+   20274135161888,
+   20275135239666,
+   20280135173000,
+   20281135217444,
+   20282135150777,
+   20288135150777,
+   20289135161888,
+   20293135173000,
+   20294135150777,
+   20298135250777,
+   20299135173000,
+   20300135273000,
+   20305135161888,
+   20306135161888,
+   20311135206333,
+   20312135150777,
+   20316135161888,
+   20317135239666,
+   20320135173000,
+   20321135161888,
+   20323135161888,
+   20324135161888,
+   20329135173000,
+   20330135250777,
+   20331135195222
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM14/session_012/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:823dd0b1d484ae4c9ab5ec29c78fc584e825cbd67b63c9ef5280024f953a5917
+size 799515

actions/locomanipulation/LM14/session_012/meta.json

@@ -524,5 +524,9 @@
   "family": "locomanipulation",
   "primitive": "LM14",
   "source_session": "20260920/LM14/20260920_083507_session89"
+ },
+ "task": {
+  "primitive": "LM14",
+  "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to."
  }
 }

actions/locomanipulation/LM14/session_012/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2db4eb00ab708efba1eb05dd134f861e3a96ce66e137a2744cefa450dc3abf35
+size 4850661

actions/locomanipulation/LM14/session_013/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": "LM14",
+ "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 133.966656,
+   "video": "left_eye",
+   "video_t_start": 0.03936617666267983
+  }
+ ],
+ "episodes": [
+  {
+   "id": "29ea1f1f-c95f-4330-b0aa-3cddeb6d01ee",
+   "segment": "segment1",
+   "action": "LM14",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 130.08,
+   "t_start": 0.0394,
+   "t_end": 130.1194,
+   "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to."
+  }
+ ]
+}

actions/locomanipulation/LM14/session_013/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dad1d5e8c45a21161ce9a7d876152f23b278d037a4898fc9a44fe6ec0b1f101a
+size 771799

actions/locomanipulation/LM14/session_013/meta.json

@@ -517,5 +517,9 @@
   "family": "locomanipulation",
   "primitive": "LM14",
   "source_session": "20260920/LM14/20260920_101217_session115"
+ },
+ "task": {
+  "primitive": "LM14",
+  "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to."
  }
 }

actions/locomanipulation/LM14/session_013/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d8f49a1678fa465bbba2fd30f167c7208fc955a14b756edb51a413b95a6bf88
+size 2114194

actions/locomanipulation/LM14/session_014/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": "LM14",
+ "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 148.966667,
+   "video": "left_eye",
+   "video_t_start": 0.039006469897894025
+  }
+ ],
+ "episodes": [
+  {
+   "id": "bfe9ded4-2eca-4665-b2c6-dae9a2184065",
+   "segment": "segment1",
+   "action": "LM14",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 143.339,
+   "t_start": 0.039,
+   "t_end": 143.378,
+   "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to."
+  }
+ ]
+}

actions/locomanipulation/LM14/session_014/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:595d080d2ae78c92d5874997bb88dbf77cfe5e955a6e94de24d8f50d4ec802e9
+size 857158

actions/locomanipulation/LM14/session_014/meta.json

@@ -521,5 +521,9 @@
   "family": "locomanipulation",
   "primitive": "LM14",
   "source_session": "20260920/LM14/20260920_101443_session116"
+ },
+ "task": {
+  "primitive": "LM14",
+  "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to."
  }
 }

actions/locomanipulation/LM14/session_014/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af9f426cd217f63e5077aede50d1ce8033c6d3031cd63b3d22ac75d415ead04e
+size 2181292

actions/locomanipulation/LM14/session_015/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": "LM14",
+ "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 143.966656,
+   "video": "left_eye",
+   "video_t_start": 0.03935492863095558
+  }
+ ],
+ "episodes": [
+  {
+   "id": "d1f7913d-0f03-4842-8cca-21493ccd7c1f",
+   "segment": "segment1",
+   "action": "LM14",
+   "quality": "valid",
+   "start_s": 1.544,
+   "end_s": 138.982,
+   "t_start": 1.5834,
+   "t_end": 139.0214,
+   "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to."
+  }
+ ]
+}

actions/locomanipulation/LM14/session_015/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32e0ae45768a6a58d64e0c31fa35085a6b85c086b91a5de7055d19a1b4bdc26a
+size 827779

actions/locomanipulation/LM14/session_015/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": 0.58035774155174
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 12.68,
+    "offset_rotvec": [
+     0.1376,
+     0.1005,
+     -0.1412
+    ],
+    "dev_deg": {
+     "median": 3.04,
+     "p90": 6.48
+    },
+    "samples": 4248,
+    "accepted": 4220,
+    "wrist_pos_err_mm_median": 31.9,
+    "per_camera": {
+     "head": {
+      "samples": 4248,
+      "accepted": 4220,
+      "gate_deg": 30.0,
+      "offset_deg": 12.68,
+      "tier": "primary",
+      "dev_deg_median": 3.04,
+      "wrist_pos_err_mm_median": 31.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 16890,
+     "interpolated": 190,
+     "mean_hand": 204,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9882,
+    "observed_fraction_of_valid": 0.9882,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.72,
+     "smplx": 0.56
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 14.0,
+      "p90": 20.9
+     },
+     "registered": {
+      "median": 14.6,
+      "p90": 19.7
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 17.25,
+    "offset_rotvec": [
+     -0.2483,
+     0.1684,
+     0.0237
+    ],
+    "dev_deg": {
+     "median": 4.87,
+     "p90": 9.33
+    },
+    "samples": 4214,
+    "accepted": 4204,
+    "wrist_pos_err_mm_median": 39.6,
+    "per_camera": {
+     "head": {
+      "samples": 4214,
+      "accepted": 4204,
+      "gate_deg": 30.0,
+      "offset_deg": 17.25,
+      "tier": "primary",
+      "dev_deg_median": 4.87,
+      "wrist_pos_err_mm_median": 39.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 16834,
+     "interpolated": 230,
+     "mean_hand": 220,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9873,
+    "observed_fraction_of_valid": 0.9873,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 16.22,
+     "smplx": 0.64
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.9,
+      "p90": 8.6
+     },
+     "registered": {
+      "median": 6.6,
+      "p90": 7.5
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:48:36.805691+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/LM14/session_015",
   "family": "locomanipulation",
   "primitive": "LM14",
   "source_session": "20260921/LM14/20260921_085138_session158"
+ },
+ "task": {
+  "primitive": "LM14",
+  "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to."
  }
 }

actions/locomanipulation/LM14/session_015/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf322af84cf3504d0917608561ef5e1ff7c06bdfe0e5efe84d2f4f91a7c533a6
+size 5654961

actions/locomanipulation/LM14/session_015/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:deb16105d21530648f6c69c30acf5cd78a995296c83d0a2deee8ce1b47244c22
-size 6636170
+oid sha256:4741e927351c611b040289a3d4348312a97020102a2409bb95f8ab849945adca
+size 12376870

actions/locomanipulation/LM14/session_016/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": "LM14",
+ "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 128.966644,
+   "video": "left_eye",
+   "video_t_start": 0.03932963320744065
+  }
+ ],
+ "episodes": [
+  {
+   "id": "c954067d-b538-4b7b-88e9-379292ff765d",
+   "segment": "segment1",
+   "action": "LM14",
+   "quality": "valid",
+   "start_s": 0.417,
+   "end_s": 124.132,
+   "t_start": 0.4563,
+   "t_end": 124.1713,
+   "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to."
+  }
+ ]
+}

actions/locomanipulation/LM14/session_016/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9165bed2ee03cc687b89e00e8adc87531a9a8fc28d9e3e95b7036fc4a3b01d28
+size 740416

actions/locomanipulation/LM14/session_016/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": 0.6540346789466474
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 10.79,
+    "offset_rotvec": [
+     0.0807,
+     0.0969,
+     -0.14
+    ],
+    "dev_deg": {
+     "median": 3.9,
+     "p90": 8.46
+    },
+    "samples": 3801,
+    "accepted": 3798,
+    "wrist_pos_err_mm_median": 27.3,
+    "per_camera": {
+     "head": {
+      "samples": 3801,
+      "accepted": 3798,
+      "gate_deg": 30.0,
+      "offset_deg": 10.79,
+      "tier": "primary",
+      "dev_deg_median": 3.9,
+      "wrist_pos_err_mm_median": 27.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15198,
+     "interpolated": 142,
+     "mean_hand": 144,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9907,
+    "observed_fraction_of_valid": 0.9907,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 9.68,
+     "smplx": 0.52
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 13.9,
+      "p90": 20.3
+     },
+     "registered": {
+      "median": 13.2,
+      "p90": 18.7
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 18.15,
+    "offset_rotvec": [
+     -0.253,
+     0.1866,
+     0.0384
+    ],
+    "dev_deg": {
+     "median": 3.77,
+     "p90": 11.84
+    },
+    "samples": 3840,
+    "accepted": 3768,
+    "wrist_pos_err_mm_median": 51.6,
+    "per_camera": {
+     "head": {
+      "samples": 3840,
+      "accepted": 3768,
+      "gate_deg": 30.0,
+      "offset_deg": 18.15,
+      "tier": "primary",
+      "dev_deg_median": 3.77,
+      "wrist_pos_err_mm_median": 51.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15080,
+     "interpolated": 224,
+     "mean_hand": 180,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9884,
+    "observed_fraction_of_valid": 0.9884,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 16.75,
+     "smplx": 0.44
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.8,
+      "p90": 10.4
+     },
+     "registered": {
+      "median": 8.8,
+      "p90": 9.1
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:48:17.910019+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/LM14/session_016",
   "family": "locomanipulation",
   "primitive": "LM14",
   "source_session": "20260921/LM14/20260921_085414_session159"
+ },
+ "task": {
+  "primitive": "LM14",
+  "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to."
  }
 }

actions/locomanipulation/LM14/session_016/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c47e9c01f7de29d6dcd91cbbb183116ae2fb732918fed0965fa23b3c6b613b93
+size 5101228

actions/locomanipulation/LM14/session_016/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:bda28c5ab0711c2618e7feed5d352e185e453e8f41624c6a1da3ca504c537c76
-size 5934496
+oid sha256:cef8406acff02858e52ba82298634cf7e742d24ba74e39dfcb49ea32ee12a8d6
+size 11084533

actions/locomanipulation/LM14/session_017/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": "LM14",
+ "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 133.966622,
+   "video": "left_eye",
+   "video_t_start": 0.03892494252943823
+  }
+ ],
+ "episodes": [
+  {
+   "id": "9fa3b326-310b-4f0b-9a96-3383b7b9736f",
+   "segment": "segment1",
+   "action": "LM14",
+   "quality": "valid",
+   "start_s": 1.129,
+   "end_s": 129.584,
+   "t_start": 1.1679,
+   "t_end": 129.6229,
+   "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to."
+  }
+ ]
+}

actions/locomanipulation/LM14/session_017/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee00bec31af4189d31a169a9784271b68f0c0a29ea8b162b2852debe28a64bf6
+size 771110

actions/locomanipulation/LM14/session_017/meta.json

@@ -325,8 +325,8 @@
   "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": 0.5523663952010748
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 19.85,
+    "offset_rotvec": [
+     0.2147,
+     0.1916,
+     -0.193
+    ],
+    "dev_deg": {
+     "median": 3.71,
+     "p90": 8.33
+    },
+    "samples": 3977,
+    "accepted": 3974,
+    "wrist_pos_err_mm_median": 33.3,
+    "per_camera": {
+     "head": {
+      "samples": 3977,
+      "accepted": 3974,
+      "gate_deg": 30.0,
+      "offset_deg": 19.85,
+      "tier": "primary",
+      "dev_deg_median": 3.71,
+      "wrist_pos_err_mm_median": 33.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15894,
+     "interpolated": 10,
+     "mean_hand": 180,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9888,
+    "observed_fraction_of_valid": 0.9888,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 19.55,
+     "smplx": 0.8
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 17.5,
+      "p90": 24.8
+     },
+     "registered": {
+      "median": 16.7,
+      "p90": 23.2
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 12.13,
+    "offset_rotvec": [
+     0.1133,
+     0.0565,
+     0.1697
+    ],
+    "dev_deg": {
+     "median": 4.1,
+     "p90": 7.89
+    },
+    "samples": 3967,
+    "accepted": 3961,
+    "wrist_pos_err_mm_median": 55.8,
+    "per_camera": {
+     "head": {
+      "samples": 3967,
+      "accepted": 3961,
+      "gate_deg": 30.0,
+      "offset_deg": 12.13,
+      "tier": "primary",
+      "dev_deg_median": 4.1,
+      "wrist_pos_err_mm_median": 55.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15856,
+     "interpolated": 216,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9993,
+    "observed_fraction_of_valid": 0.9993,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 10.1,
+     "smplx": 0.62
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.6,
+      "p90": 12.2
+     },
+     "registered": {
+      "median": 10.1,
+      "p90": 14.5
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:48:18.049979+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/LM14/session_017",
   "family": "locomanipulation",
   "primitive": "LM14",
   "source_session": "20260921/LM14/20260921_114737_session212"
+ },
+ "task": {
+  "primitive": "LM14",
+  "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to."
  }
 }

actions/locomanipulation/LM14/session_017/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfa93679305061024153b0ee0e279997f7a131559cf4a3ab366c9ede2563f262
+size 5321186

actions/locomanipulation/LM14/session_017/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:67cf02669e884f66ba567777626a5809e6e5232a69a7f22261549ca2f897e07f
-size 6204835
+oid sha256:88a57cb637f83d09c7c67815e9ecbe0574c17b1e0aeb599719850083df7fcafb
+size 11583494

actions/locomanipulation/LM14/session_018/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": "LM14",
+ "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 123.966622,
+   "video": "left_eye",
+   "video_t_start": 0.039111250522760876
+  }
+ ],
+ "episodes": [
+  {
+   "id": "02ffae50-cd16-4840-8f4d-a9dbc88fa03e",
+   "segment": "segment1",
+   "action": "LM14",
+   "quality": "valid",
+   "start_s": 1.192,
+   "end_s": 120.839,
+   "t_start": 1.2311,
+   "t_end": 120.8781,
+   "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to."
+  }
+ ]
+}

actions/locomanipulation/LM14/session_018/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c53eca5b8add2ca78dc62015a1dcc4d4c1b3caac95b065b2625a4215cc2880a2
+size 714052

actions/locomanipulation/LM14/session_018/meta.json

@@ -324,8 +324,8 @@
   "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": {
@@ -506,10 +506,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.4144637967766054
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 18.75,
+    "offset_rotvec": [
+     0.2769,
+     0.1742,
+     -0.0086
+    ],
+    "dev_deg": {
+     "median": 2.98,
+     "p90": 5.93
+    },
+    "samples": 3659,
+    "accepted": 3633,
+    "wrist_pos_err_mm_median": 56.6,
+    "per_camera": {
+     "head": {
+      "samples": 3659,
+      "accepted": 3633,
+      "gate_deg": 30.0,
+      "offset_deg": 18.75,
+      "tier": "primary",
+      "dev_deg_median": 2.98,
+      "wrist_pos_err_mm_median": 56.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14548,
+     "interpolated": 320,
+     "mean_hand": 16,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9989,
+    "observed_fraction_of_valid": 0.9989,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 18.45,
+     "smplx": 0.64
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.8,
+      "p90": 11.3
+     },
+     "registered": {
+      "median": 7.7,
+      "p90": 10.8
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 11.26,
+    "offset_rotvec": [
+     -0.0888,
+     -0.1747,
+     0.0158
+    ],
+    "dev_deg": {
+     "median": 4.83,
+     "p90": 8.05
+    },
+    "samples": 3684,
+    "accepted": 3608,
+    "wrist_pos_err_mm_median": 63.2,
+    "per_camera": {
+     "head": {
+      "samples": 3684,
+      "accepted": 3608,
+      "gate_deg": 30.0,
+      "offset_deg": 11.26,
+      "tier": "primary",
+      "dev_deg_median": 4.83,
+      "wrist_pos_err_mm_median": 63.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14432,
+     "interpolated": 32,
+     "mean_hand": 420,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9718,
+    "observed_fraction_of_valid": 0.9718,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 11.68,
+     "smplx": 0.51
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 12.7,
+      "p90": 18.8
+     },
+     "registered": {
+      "median": 12.3,
+      "p90": 17.8
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:36:51.346248+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/LM14/session_018",
   "family": "locomanipulation",
   "primitive": "LM14",
   "source_session": "20260924/LM14/20260924_010035_session4"
+ },
+ "task": {
+  "primitive": "LM14",
+  "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to."
  }
 }

actions/locomanipulation/LM14/session_018/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6618ca7df49230374d33b78d17d0723b97f75d39f55a5a6dab493dedeb09bad1
+size 4944606

actions/locomanipulation/LM14/session_018/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ed6ef8a4d251339aa2a397dd332b74802c4e27363c92318797e1939e6fe43107
-size 5756528
+oid sha256:a5edf93036f8c8f1010a673e57b2c5dba3d7b5175f5b0789d00efcf1067042a9
+size 10670452

actions/locomanipulation/LM14/session_019/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": "LM14",
+ "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 143.966533,
+   "video": "left_eye",
+   "video_t_start": 0.039112266414820906
+  }
+ ],
+ "episodes": [
+  {
+   "id": "c59d4fb9-f809-4d93-9a19-b964a33f0f65",
+   "segment": "segment1",
+   "action": "LM14",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 136.18,
+   "t_start": 0.0391,
+   "t_end": 136.2191,
+   "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to."
+  }
+ ]
+}

actions/locomanipulation/LM14/session_019/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e5da8a51e571e6b7fa4e6166a9b4af0d6f92ce07f119e7c5a175927d4bcbca7
+size 830199

actions/locomanipulation/LM14/session_019/meta.json

@@ -323,8 +323,8 @@
   "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": {
@@ -545,10 +545,124 @@
   },
   "applied": 1
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 13.5,
+    "offset_rotvec": [
+     0.182,
+     -0.0271,
+     0.1471
+    ],
+    "dev_deg": {
+     "median": 45.36,
+     "p90": 116.48
+    },
+    "samples": 615,
+    "accepted": 84,
+    "wrist_pos_err_mm_median": 255.8,
+    "per_camera": {
+     "head": {
+      "samples": 615,
+      "accepted": 84,
+      "gate_deg": 30.0,
+      "offset_deg": 13.5,
+      "tier": "primary",
+      "dev_deg_median": 45.36,
+      "wrist_pos_err_mm_median": 255.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 314,
+     "interpolated": 260,
+     "mean_hand": 16702,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.0332,
+    "observed_fraction_of_valid": 0.0332,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 52.09,
+     "smplx": NaN
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": NaN,
+      "p90": NaN
+     },
+     "registered": {
+      "median": NaN,
+      "p90": NaN
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 30.95,
+    "offset_rotvec": [
+     0.486,
+     -0.12,
+     -0.2032
+    ],
+    "dev_deg": {
+     "median": 28.69,
+     "p90": 82.26
+    },
+    "samples": 608,
+    "accepted": 312,
+    "wrist_pos_err_mm_median": 185.6,
+    "per_camera": {
+     "head": {
+      "samples": 608,
+      "accepted": 312,
+      "gate_deg": 30.0,
+      "offset_deg": 30.95,
+      "tier": "primary",
+      "dev_deg_median": 28.69,
+      "wrist_pos_err_mm_median": 185.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 1215,
+     "interpolated": 866,
+     "mean_hand": 15195,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.1204,
+    "observed_fraction_of_valid": 0.1205,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 31.61,
+     "smplx": 2.26
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.9,
+      "p90": 11.6
+     },
+     "registered": {
+      "median": 7.1,
+      "p90": 9.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:20:27.855254+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/LM14/session_019",
   "family": "locomanipulation",
   "primitive": "LM14",
   "source_session": "20261008/LM14/20261008_081110_session114"
+ },
+ "task": {
+  "primitive": "LM14",
+  "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to."
  }
 }

actions/locomanipulation/LM14/session_019/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:036b506d948cd5be46051ebd0e5b7263a25968257a465f6c04f4dd21ed6c7630
+size 1042789