Release update 2026-11-05: new sessions, instructions, annotations (part 39)

.gitattributes

@@ -50826,3 +50826,37 @@ actions/static_manipulation/SM33/session_011/raw/sensors/robowrist_mag_left.db f
 actions/static_manipulation/SM33/session_011/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
 actions/static_manipulation/SM34/session_008/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
 actions/static_manipulation/SM34/session_008/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM34/session_008/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM34/session_008/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM34/session_008/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM34/session_008/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM34/session_008/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM34/session_008/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM34/session_008/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM35/session_009/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM35/session_009/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM35/session_009/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM35/session_009/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM35/session_009/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM35/session_009/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM35/session_009/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM35/session_009/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM35/session_009/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM36/session_008/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM36/session_008/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM36/session_008/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM36/session_008/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM36/session_008/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM36/session_008/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM36/session_008/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM36/session_008/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM36/session_008/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM36/session_009/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM36/session_009/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM36/session_009/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM36/session_009/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM36/session_009/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM36/session_009/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM36/session_009/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM36/session_009/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/static_manipulation/SM36/session_009/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/static_manipulation/SM34/session_008/raw/sensors/robocap_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d33c3170b41535de62e1347ca59952e53784e3b2aaa59306a90f64fbb5dcdc72
+size 1318912

actions/static_manipulation/SM34/session_008/raw/sensors/robocap_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdec16af2affed2462bdb7d10c87339b62b90f940b0a43c32f1aa9baa4260dc6
+size 1269760

actions/static_manipulation/SM34/session_008/raw/sensors/robocap_mag_middle.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f373962161be3d570a9e1682903a66baee7654682260749573de056ce6f8b86a
+size 348160

actions/static_manipulation/SM34/session_008/raw/sensors/robowrist_imu_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:606fcb253084928aa88962b3bc6baeea31b99359f223d8092f9506c2fd63a513
+size 1273856

actions/static_manipulation/SM34/session_008/raw/sensors/robowrist_imu_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2835d124e088f07770b270c499875fd41f2ee7f5d80b98c180a0fc3a2c186577
+size 1290240

actions/static_manipulation/SM34/session_008/raw/sensors/robowrist_mag_left.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92ce4ae324da762cbc5a48c7a33b96e7d977a7762a29e89aac249ddeb14bf0d9
+size 331776

actions/static_manipulation/SM34/session_008/raw/sensors/robowrist_mag_right.db

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ed8a1628c766cdb9bc478c3904e4c1a55fadcbdd0a4f8ef336bdbc48b68a8e0
+size 331776

actions/static_manipulation/SM34/session_008/sensors/head_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a701a357b7917667a612b545c651c1e74772b24c4ee3c89e0d62e92e15e69ce0
+size 1190776

actions/static_manipulation/SM34/session_008/sensors/head_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:902a12f9d0a8dd3f177114a61f314f32baa029b86f617404f27f131db217fa84
+size 148271

actions/static_manipulation/SM34/session_008/sensors/wrist_imu.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dfbddd2ecdce5536e1489b763bbec3e05e70fbb679014a1fdfcc38e7980ba73
+size 1310323

actions/static_manipulation/SM34/session_008/sensors/wrist_mag.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:060966eb9aa65716c8966f93533bd0bf502d54cee6c768ed91dc8ebdd4ab6ed4
+size 257862

actions/static_manipulation/SM34/session_008/videos/frame_timestamps.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4429980582bff6be983e499ac05a69876ebeb7f9c1a4ee06f0429bb4fe692147
+size 259623

actions/static_manipulation/SM34/session_008/videos/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcfbe59224df3e1cb25b4f5956ea826a367650b2bacdaefc3078de177d9edcc8
+size 64622619

actions/static_manipulation/SM34/session_008/videos/head_left_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d7c63dccba57b280e3fd703032517469c42a238a536822ce571ed36ed6a7d7a
+size 64565147

actions/static_manipulation/SM34/session_008/videos/head_left_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b63f1a0968af30703432671a1d3a8b0726809eead7cb31290b666cc2d84cd68
+size 64672143

actions/static_manipulation/SM34/session_008/videos/head_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef8e448e79c200472a8c3527bab056ade0c0b6c6b9d01e9359ecf87d5b905841
+size 64722594

actions/static_manipulation/SM34/session_008/videos/head_right_eye.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7757fdcbf431d258346a39fe3c90564377b5bb24fb5144d0b4916e6f645c068e
+size 64570299

actions/static_manipulation/SM34/session_008/videos/head_right_front.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db03b994bef66c2206ee0b0dffd44b29d0fa73017190a62a0dd6707669cfdc27
+size 64610818

actions/static_manipulation/SM34/session_008/videos/third_person.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:693d3605940ea06aacef66cd569f00176f7eacbfa58b20a7554c721036859897
+size 42530885

actions/static_manipulation/SM34/session_008/videos/wrist_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5099d7085a09a6631ee306e3112a952f748fe7e51e9ce08a6aeeed57f0b38e78
+size 23054743

actions/static_manipulation/SM34/session_008/videos/wrist_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67284034b928b6e583d945f9fee53d4bf0acc01cd2e617b6450362d05509e23d
+size 53965690

actions/static_manipulation/SM35/session_001/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": "SM35",
+ "instruction": "Turn the screw in with the driver, then take it back out. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 148.966644,
+   "video": "left_eye",
+   "video_t_start": 0.039051211119825124
+  }
+ ],
+ "episodes": [
+  {
+   "id": "581ee8aa-df41-44ae-8784-da59744828eb",
+   "segment": "segment1",
+   "action": "SM35",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 76.879,
+   "t_start": 0.0391,
+   "t_end": 76.9181,
+   "instruction": "Turn the screw in with the driver, then take it back out. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
+  },
+  {
+   "id": "2639abee-571d-403b-ab13-6ccb94aaec85",
+   "segment": "segment1",
+   "action": "SM35",
+   "quality": "valid",
+   "start_s": 77.632,
+   "end_s": 142.587,
+   "t_start": 77.6711,
+   "t_end": 142.6261,
+   "instruction": "Turn the screw in with the driver, then take it back out. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
+  }
+ ]
+}

actions/static_manipulation/SM35/session_001/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:529e738052602b9f2fec34073c59f1896bcaadf5c3c96c71c0de831267a76156
+size 841013

actions/static_manipulation/SM35/session_001/meta.json

@@ -538,5 +538,9 @@
   "family": "static_manipulation",
   "primitive": "SM35",
   "source_session": "20260915/SM35/20260915_032033_session30"
+ },
+ "task": {
+  "primitive": "SM35",
+  "instruction": "Turn the screw in with the driver, then take it back out. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
  }
 }

actions/static_manipulation/SM35/session_001/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d492fe205844815230a5234c493d60a158464c30e94cbf1bf9769ddf0179a8c
+size 5935881

actions/static_manipulation/SM35/session_002/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": "SM35",
+ "instruction": "Turn the screw in with the driver, then take it back out. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 143.966656,
+   "video": "left_eye",
+   "video_t_start": 0.03891370190550214
+  }
+ ],
+ "episodes": [
+  {
+   "id": "4a5645ae-9d04-4103-b4c4-d197d1f5248b",
+   "segment": "segment1",
+   "action": "SM35",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 67.725,
+   "t_start": 0.0389,
+   "t_end": 67.7639,
+   "instruction": "Turn the screw in with the driver, then take it back out. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
+  },
+  {
+   "id": "f238d0ba-654d-4272-b921-e13c8423c196",
+   "segment": "segment1",
+   "action": "SM35",
+   "quality": "valid",
+   "start_s": 68.869,
+   "end_s": 135.311,
+   "t_start": 68.9079,
+   "t_end": 135.3499,
+   "instruction": "Turn the screw in with the driver, then take it back out. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
+  }
+ ]
+}

actions/static_manipulation/SM35/session_002/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08f1fcc6cf09966766462d2ac32c3cd6acd93b6ce5d3f566f66ecf8a277ae792
+size 811675

actions/static_manipulation/SM35/session_002/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": {
@@ -530,10 +530,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.9799888054725471
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 20.44,
+    "offset_rotvec": [
+     -0.0803,
+     0.2894,
+     -0.1926
+    ],
+    "dev_deg": {
+     "median": 6.79,
+     "p90": 25.85
+    },
+    "samples": 4290,
+    "accepted": 4105,
+    "wrist_pos_err_mm_median": 43.9,
+    "per_camera": {
+     "head": {
+      "samples": 4290,
+      "accepted": 4105,
+      "gate_deg": 30.0,
+      "offset_deg": 20.44,
+      "tier": "primary",
+      "dev_deg_median": 6.79,
+      "wrist_pos_err_mm_median": 43.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 16456,
+     "interpolated": 580,
+     "mean_hand": 248,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9857,
+    "observed_fraction_of_valid": 0.9857,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 17.35,
+     "smplx": 0.77
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 11.3,
+      "p90": 18.3
+     },
+     "registered": {
+      "median": 11.1,
+      "p90": 18.1
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 22.81,
+    "offset_rotvec": [
+     0.0668,
+     -0.3124,
+     -0.2377
+    ],
+    "dev_deg": {
+     "median": 4.05,
+     "p90": 21.08
+    },
+    "samples": 4261,
+    "accepted": 4229,
+    "wrist_pos_err_mm_median": 35.7,
+    "per_camera": {
+     "head": {
+      "samples": 4261,
+      "accepted": 4229,
+      "gate_deg": 30.0,
+      "offset_deg": 22.81,
+      "tier": "primary",
+      "dev_deg_median": 4.05,
+      "wrist_pos_err_mm_median": 35.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 16942,
+     "interpolated": 330,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9993,
+    "observed_fraction_of_valid": 0.9993,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 16.65,
+     "smplx": 0.59
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 12.4,
+      "p90": 14.6
+     },
+     "registered": {
+      "median": 12.1,
+      "p90": 14.5
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:58:54.152288+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/static_manipulation/SM35/session_002",
   "family": "static_manipulation",
   "primitive": "SM35",
   "source_session": "20260918/SM35/20260918_101347_session81"
+ },
+ "task": {
+  "primitive": "SM35",
+  "instruction": "Turn the screw in with the driver, then take it back out. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
  }
 }

actions/static_manipulation/SM35/session_002/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffaccd4990c815b7b1c7557dff3b0fde02d5a33dd74388e922f00d1f9e467995
+size 5745995

actions/static_manipulation/SM35/session_002/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:fddfad178c1757dea4f81af13dadc1a45eada5b720d23440e1d92e08e421be8c
-size 6390776
+oid sha256:9d3e105e93a7d28596f54e86e504bea262c01cc9cbb2cc7a39a0a3dd0b3da2c9
+size 12123536

actions/static_manipulation/SM35/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": "SM35",
+ "instruction": "Turn the screw in with the driver, then take it back out. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 138.966656,
+   "video": "left_eye",
+   "video_t_start": 0.04203303254346835
+  }
+ ],
+ "episodes": [
+  {
+   "id": "1295eeea-217c-4475-9823-feb74dc71e6e",
+   "segment": "segment1",
+   "action": "SM35",
+   "quality": "valid",
+   "start_s": 1.759,
+   "end_s": 68.774,
+   "t_start": 1.801,
+   "t_end": 68.816,
+   "instruction": "Turn the screw in with the driver, then take it back out. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
+  },
+  {
+   "id": "288c8111-5d98-4537-bc87-62e49bd1e863",
+   "segment": "segment1",
+   "action": "SM35",
+   "quality": "valid",
+   "start_s": 70.107,
+   "end_s": 134.103,
+   "t_start": 70.149,
+   "t_end": 134.145,
+   "instruction": "Turn the screw in with the driver, then take it back out. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
+  }
+ ]
+}

actions/static_manipulation/SM35/session_003/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a4e78255963bce25d2527da1092a2963d7845dc1e3fc5b4264bb301f33d6b52
+size 789024

actions/static_manipulation/SM35/session_003/meta.json

@@ -338,8 +338,8 @@
   "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": {
@@ -524,10 +524,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.9026606292708718
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 42.32,
+    "offset_rotvec": [
+     0.7233,
+     -0.1476,
+     -0.0249
+    ],
+    "dev_deg": {
+     "median": 33.0,
+     "p90": 48.4
+    },
+    "samples": 4023,
+    "accepted": 1723,
+    "wrist_pos_err_mm_median": 24.9,
+    "per_camera": {
+     "head": {
+      "samples": 4023,
+      "accepted": 1723,
+      "gate_deg": 30.0,
+      "offset_deg": 42.32,
+      "tier": "primary",
+      "dev_deg_median": 33.0,
+      "wrist_pos_err_mm_median": 24.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 6970,
+     "interpolated": 2358,
+     "mean_hand": 7356,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.5591,
+    "observed_fraction_of_valid": 0.5591,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 38.62,
+     "smplx": 1.04
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.8,
+      "p90": 12.9
+     },
+     "registered": {
+      "median": 8.7,
+      "p90": 12.4
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 20.06,
+    "offset_rotvec": [
+     0.1006,
+     -0.3323,
+     0.0449
+    ],
+    "dev_deg": {
+     "median": 8.71,
+     "p90": 18.91
+    },
+    "samples": 4003,
+    "accepted": 3812,
+    "wrist_pos_err_mm_median": 26.1,
+    "per_camera": {
+     "head": {
+      "samples": 4003,
+      "accepted": 3812,
+      "gate_deg": 30.0,
+      "offset_deg": 20.06,
+      "tier": "primary",
+      "dev_deg_median": 8.71,
+      "wrist_pos_err_mm_median": 26.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15274,
+     "interpolated": 458,
+     "mean_hand": 952,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9429,
+    "observed_fraction_of_valid": 0.9429,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 21.45,
+     "smplx": 1.88
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.6,
+      "p90": 6.9
+     },
+     "registered": {
+      "median": 5.9,
+      "p90": 7.5
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:34:01.579698+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/static_manipulation/SM35/session_003",
   "family": "static_manipulation",
   "primitive": "SM35",
   "source_session": "20260924/SM35/20260924_121848_session173"
+ },
+ "task": {
+  "primitive": "SM35",
+  "instruction": "Turn the screw in with the driver, then take it back out. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
  }
 }

actions/static_manipulation/SM35/session_003/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca898bb28fd6054ba334803f334c608ca2f3e182d8f97361bbe9ee3f5eb9d688
+size 5411754

actions/static_manipulation/SM35/session_003/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b6ebbfe344f9e56d7cd83efd8c6cb5758f98f8f2dca020324bdb78f9574e5d77
-size 6272725
+oid sha256:bc86be5df6d6ee86a1aeac575f6abfb13ffcbfcea054b51fd4a15a7d83517c8c
+size 10690756

actions/static_manipulation/SM35/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": "SM35",
+ "instruction": "Turn the screw in with the driver, then take it back out. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 134.899956,
+   "video": "left_eye",
+   "video_t_start": 0.04122689606485748
+  }
+ ],
+ "episodes": [
+  {
+   "id": "8d33f78d-e06a-4bf5-887d-e96b44f45f0f",
+   "segment": "segment1",
+   "action": "SM35",
+   "quality": "valid",
+   "start_s": 1.583,
+   "end_s": 75.143,
+   "t_start": 1.6242,
+   "t_end": 75.1842,
+   "instruction": "Turn the screw in with the driver, then take it back out. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
+  },
+  {
+   "id": "494df0bf-038e-4987-81ca-29fcc7f16448",
+   "segment": "segment1",
+   "action": "SM35",
+   "quality": "valid",
+   "start_s": 77.134,
+   "end_s": 132.196,
+   "t_start": 77.1752,
+   "t_end": 132.2372,
+   "instruction": "Turn the screw in with the driver, then take it back out. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
+  }
+ ]
+}

actions/static_manipulation/SM35/session_004/cameras/gsi_online_calibration.json

@@ -0,0 +1,242 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 31,
+    "median_px": 3.44,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.286
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.7137,
+   "gate_fail": [],
+   "held_out_px_after": 0.334,
+   "held_out_px_before": 16.217,
+   "inliers": 2551,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.5741,
+    -0.1976,
+    -0.648
+   ],
+   "split_deg": 0.0462,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.581,
+   "gate_fail": [],
+   "held_out_px_after": 0.311,
+   "held_out_px_before": 9.358,
+   "inliers": 4942,
+   "position_fitted": true,
+   "position_mm": [
+    0.87,
+    -27.29,
+    -0.84
+   ],
+   "position_sigma_mm": 0.075,
+   "position_split_mm": 0.545,
+   "rotvec_deg": [
+    1.668,
+    -0.8639,
+    1.77
+   ],
+   "split_deg": 0.0308,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.9304,
+   "gate_fail": [],
+   "held_out_px_after": 0.936,
+   "held_out_px_before": 12.652,
+   "inliers": 472,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.4304,
+    -1.4653,
+    2.7191
+   ],
+   "split_deg": 0.1902,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 3.1417,
+   "gate_fail": [],
+   "held_out_px_after": 0.319,
+   "held_out_px_before": 4.33,
+   "inliers": 5160,
+   "position_fitted": true,
+   "position_mm": [
+    -0.24,
+    -23.92,
+    0.28
+   ],
+   "position_sigma_mm": 0.081,
+   "position_split_mm": 0.583,
+   "rotvec_deg": [
+    1.8933,
+    -1.1617,
+    2.2218
+   ],
+   "split_deg": 0.0196,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.4702,
+   "gate_fail": [],
+   "held_out_px_after": 0.275,
+   "held_out_px_before": 2.607,
+   "inliers": 6548,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2148,
+    -0.4182,
+    0.0088
+   ],
+   "split_deg": 0.0161,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "7507a3047765a2f82edb2ac5683d3896608780c576941e332c3ab4e0e72c5d76",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "cdadf19b6e1f09cb3f568a0d661610457697186be4074c1d03065bda246ef5e5",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "272dceed4cdf5db3ffded4c64b2afe06bcd63521cb0014876e483de13c17768a",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "523738a0fa15d33bf68c1ee7a09113ee327e3a367b837056b6135910004c9009",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "b2e8c0987fa662ea",
+ "kind": "online_calibration",
+ "output_sha256": "f0e21847231d6d10645f21a745cecc3bc8a1ec28dbb1be828520fc2d8ff9bdf2",
+ "overlap": {
+  "left-right": 0.5,
+  "left_eye-left": 0.695,
+  "left_eye-right": 0.702,
+  "left_front-left": 0.506,
+  "left_front-left_eye": 0.692,
+  "left_front-right": 0.458,
+  "left_front-right_eye": 0.698,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.699,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.706,
+  "right_front-left": 0.49,
+  "right_front-left_eye": 0.697,
+  "right_front-right": 0.464,
+  "right_front-right_eye": 0.704
+ },
+ "picture_change": {
+  "left": 25.775,
+  "left_eye": 26.36,
+  "left_front": 30.473,
+  "right": 25.24,
+  "right_eye": 29.366,
+  "right_front": 28.966
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   25612568877777,
+   25613569000000,
+   25614569011111,
+   25615568922222,
+   25616568877777,
+   25617568922222,
+   25618568922222,
+   25619569000000,
+   25620568911111,
+   25621568922222,
+   25622568844444,
+   25623568922222,
+   25624568911111,
+   25625568933333,
+   25626568866666,
+   25627569000000,
+   25628568844444,
+   25629568844444,
+   25630568844444,
+   25631568922222,
+   25632568877777,
+   25633568844444,
+   25634568877777,
+   25635568922222,
+   25636568922222,
+   25637568922222,
+   25638568988888,
+   25639568866666,
+   25640568855555,
+   25641568922222,
+   25642568877777,
+   25643568877777,
+   25644568877777,
+   25645568844444
+  ]
+ },
+ "version": 1
+}

actions/static_manipulation/SM35/session_004/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:276315f27ce72699564c56d9da57c5b77c39390b13ec0c1e7d44f1fbfdd622a4
+size 760477

actions/static_manipulation/SM35/session_004/meta.json

@@ -376,8 +376,8 @@
   "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": {
@@ -522,43 +522,127 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 6.86,
+    "offset_rotvec": [
+     0.094,
+     0.012,
+     -0.0731
+    ],
+    "dev_deg": {
+     "median": 3.78,
+     "p90": 9.65
+    },
+    "samples": 3796,
+    "accepted": 3721,
+    "wrist_pos_err_mm_median": 28.0,
+    "per_camera": {
+     "head": {
+      "samples": 3796,
+      "accepted": 3721,
+      "gate_deg": 30.0,
+      "offset_deg": 6.86,
+      "tier": "primary",
+      "dev_deg_median": 3.78,
+      "wrist_pos_err_mm_median": 28.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14922,
+     "interpolated": 742,
+     "mean_hand": 525,
+     "no_body_fit": 7
+    },
+    "observed_fraction": 0.9672,
+    "observed_fraction_of_valid": 0.9676,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 7.51,
+     "smplx": 1.41
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 11.9,
+      "p90": 14.6
+     },
+     "registered": {
+      "median": 10.6,
+      "p90": 12.5
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 20.37,
+    "offset_rotvec": [
+     0.2363,
+     -0.2627,
+     0.0385
+    ],
+    "dev_deg": {
+     "median": 7.83,
+     "p90": 18.88
+    },
+    "samples": 3915,
+    "accepted": 3619,
+    "wrist_pos_err_mm_median": 24.9,
+    "per_camera": {
+     "head": {
+      "samples": 3915,
+      "accepted": 3619,
+      "gate_deg": 30.0,
+      "offset_deg": 20.37,
+      "tier": "primary",
+      "dev_deg_median": 7.83,
+      "wrist_pos_err_mm_median": 24.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14482,
+     "interpolated": 282,
+     "mean_hand": 1425,
+     "no_body_fit": 7
+    },
+    "observed_fraction": 0.9116,
+    "observed_fraction_of_valid": 0.912,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 21.49,
+     "smplx": 2.34
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 16.7,
+      "p90": 25.6
+     },
+     "registered": {
+      "median": 15.8,
+      "p90": 23.9
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:37:38.877553+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/static_manipulation/SM35/session_004",
   "family": "static_manipulation",
   "primitive": "SM35",
   "source_session": "20261017/SM35/20261017_074553_session96"
  },
+ "task": {
+  "primitive": "SM35",
+  "instruction": "Turn the screw in with the driver, then take it back out. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
+ },
  "objects": [
-  {
-   "name": "LittleBox1",
-   "object_type": "LittleBox",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
-  },
-  {
-   "name": "LittleBox2",
-   "object_type": "LittleBox",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
-  },
-  {
-   "name": "LittleBox3",
-   "object_type": "LittleBox",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
-  },
-  {
-   "name": "LittleBox4",
-   "object_type": "LittleBox",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
-  },
-  {
-   "name": "LittleBox5",
-   "object_type": "LittleBox",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
-  },
   {
    "name": "LittleBox6",
    "object_type": "LittleBox",

actions/static_manipulation/SM35/session_004/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a864708977649873089498cc990369feb655746e88fe700c9613b73772d9932a
+size 5172734

actions/static_manipulation/SM35/session_004/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:852c2ff741aa77336924802f2971cf8c9920dc13d6f6ad5f71fef87f9fefadbe
-size 6110125
+oid sha256:dbf76c5f90f6c2a89ab1d7ff63af8c715f7fd4a6103489323e28fdd9c6187a13
+size 11261002

actions/static_manipulation/SM35/session_005/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": "SM35",
+ "instruction": "Turn the screw in with the driver, then take it back out. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 136.9,
+   "video": "left_eye",
+   "video_t_start": 0.03990766559596523
+  }
+ ],
+ "episodes": [
+  {
+   "id": "f8965ce5-e1ec-45f8-aa71-1f1c72e4e26b",
+   "segment": "segment1",
+   "action": "SM35",
+   "quality": "valid",
+   "start_s": 0.999,
+   "end_s": 68.902,
+   "t_start": 1.0389,
+   "t_end": 68.9419,
+   "instruction": "Turn the screw in with the driver, then take it back out. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
+  },
+  {
+   "id": "bcddeaa5-84e6-47fe-a05e-9b1929163f03",
+   "segment": "segment1",
+   "action": "SM35",
+   "quality": "valid",
+   "start_s": 68.902,
+   "end_s": 134.052,
+   "t_start": 68.9419,
+   "t_end": 134.0919,
+   "instruction": "Turn the screw in with the driver, then take it back out. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
+  }
+ ]
+}

actions/static_manipulation/SM35/session_005/cameras/gsi_online_calibration.json

@@ -0,0 +1,256 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 35,
+    "median_px": 557.66,
+    "pair": [
+     "left_front",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 13,
+  "median_px": 0.361
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.6812,
+   "gate_fail": [],
+   "held_out_px_after": 0.484,
+   "held_out_px_before": 20.108,
+   "inliers": 1806,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.4815,
+    -0.1468,
+    -0.7812
+   ],
+   "split_deg": 0.0107,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.4294,
+   "gate_fail": [],
+   "held_out_px_after": 0.468,
+   "held_out_px_before": 6.981,
+   "inliers": 2386,
+   "position_fitted": true,
+   "position_mm": [
+    1.1,
+    -27.31,
+    -0.68
+   ],
+   "position_sigma_mm": 0.137,
+   "position_split_mm": 0.475,
+   "rotvec_deg": [
+    1.5012,
+    -0.8228,
+    1.7237
+   ],
+   "split_deg": 0.0074,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 4.4678,
+   "gate_fail": [],
+   "held_out_px_after": 0.57,
+   "held_out_px_before": 10.373,
+   "inliers": 253,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.1916,
+    -1.1022,
+    3.7341
+   ],
+   "split_deg": 0.3786,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.997,
+   "gate_fail": [],
+   "held_out_px_after": 0.347,
+   "held_out_px_before": 3.399,
+   "inliers": 2385,
+   "position_fitted": true,
+   "position_mm": [
+    -0.37,
+    -24.76,
+    0.17
+   ],
+   "position_sigma_mm": 0.13,
+   "position_split_mm": 0.674,
+   "rotvec_deg": [
+    1.6588,
+    -1.0992,
+    2.241
+   ],
+   "split_deg": 0.048,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.4447,
+   "gate_fail": [],
+   "held_out_px_after": 0.336,
+   "held_out_px_before": 2.336,
+   "inliers": 3413,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2263,
+    -0.382,
+    -0.0248
+   ],
+   "split_deg": 0.0232,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "a56191c48b6a6f82e9ebc386a9269284a02e6be2367b9075acf681b93a5b0be2",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "6dc10738bf9a8f2f125d77e90f41859364e845a7fc53a6a48c750f3dd96ba112",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "7d938666209db05ee7edd4831673fcfd33b2e108bf94514b08b60b959166fd23",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "3b44609665215d668dd18ed0dd5713c836efae7a451291be9a2444c941721ed6",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "8b862771e5e5d3f2",
+ "kind": "online_calibration",
+ "output_sha256": "fdf320778b4d4095660541249036af6fac9edb451ed973475d4c8c7cc6473498",
+ "overlap": {
+  "left-right": 0.5,
+  "left_eye-left": 0.695,
+  "left_eye-right": 0.702,
+  "left_front-left": 0.506,
+  "left_front-left_eye": 0.692,
+  "left_front-right": 0.458,
+  "left_front-right_eye": 0.698,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.699,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.706,
+  "right_front-left": 0.49,
+  "right_front-left_eye": 0.697,
+  "right_front-right": 0.464,
+  "right_front-right_eye": 0.704
+ },
+ "picture_change": {
+  "left": 33.481,
+  "left_eye": 34.552,
+  "left_front": 38.102,
+  "right": 32.612,
+  "right_eye": 34.376,
+  "right_front": 35.33
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   8790854737777,
+   8791854815555,
+   8792854771111,
+   8793854771111,
+   8794854760000,
+   8795854815555,
+   8796854771111,
+   8797854737777,
+   8798854771111,
+   8799854771111,
+   8800854782222,
+   8801854860000,
+   8802854760000,
+   8803854771111,
+   8804854893333,
+   8805854771111,
+   8806854815555,
+   8807854771111,
+   8808854815555,
+   8809854771111,
+   8810854760000,
+   8811854771111,
+   8812854737777,
+   8813854771111,
+   8814854771111,
+   8815854771111,
+   8816854737777,
+   8817854760000,
+   8818854748888,
+   8819854737777,
+   8820854815555,
+   8821854826666,
+   8822854882222,
+   8823854737777,
+   8824854737777,
+   8825854771111,
+   8826854815555,
+   8827854760000,
+   8828854771111,
+   8829854771111,
+   8830854748888,
+   8831854737777,
+   8832854760000,
+   8833854771111,
+   8834854737777,
+   8835854748888,
+   8836854748888,
+   8837854771111,
+   8838854771111
+  ]
+ },
+ "version": 1
+}

actions/static_manipulation/SM35/session_005/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8b5ff95ba0381bbe5a63e5018d7bb2866f48abe9e84f5907f75621047ee10d2
+size 765509

actions/static_manipulation/SM35/session_005/meta.json

@@ -360,8 +360,8 @@
   "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": {
@@ -512,12 +512,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 19.49,
+    "offset_rotvec": [
+     0.1313,
+     0.1715,
+     -0.2628
+    ],
+    "dev_deg": {
+     "median": 2.13,
+     "p90": 6.84
+    },
+    "samples": 4079,
+    "accepted": 4021,
+    "wrist_pos_err_mm_median": 19.6,
+    "per_camera": {
+     "head": {
+      "samples": 4079,
+      "accepted": 4021,
+      "gate_deg": 30.0,
+      "offset_deg": 19.49,
+      "tier": "primary",
+      "dev_deg_median": 2.13,
+      "wrist_pos_err_mm_median": 19.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 16088,
+     "interpolated": 32,
+     "mean_hand": 309,
+     "no_body_fit": 7
+    },
+    "observed_fraction": 0.9808,
+    "observed_fraction_of_valid": 0.9812,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 16.78,
+     "smplx": 0.7
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.1,
+      "p90": 11.5
+     },
+     "registered": {
+      "median": 7.6,
+      "p90": 10.3
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 20.52,
+    "offset_rotvec": [
+     0.0894,
+     -0.1702,
+     0.3022
+    ],
+    "dev_deg": {
+     "median": 6.3,
+     "p90": 14.1
+    },
+    "samples": 4070,
+    "accepted": 4017,
+    "wrist_pos_err_mm_median": 16.2,
+    "per_camera": {
+     "head": {
+      "samples": 4070,
+      "accepted": 4017,
+      "gate_deg": 30.0,
+      "offset_deg": 20.52,
+      "tier": "primary",
+      "dev_deg_median": 6.3,
+      "wrist_pos_err_mm_median": 16.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 16080,
+     "interpolated": 132,
+     "mean_hand": 217,
+     "no_body_fit": 7
+    },
+    "observed_fraction": 0.9864,
+    "observed_fraction_of_valid": 0.9868,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 15.82,
+     "smplx": 0.9
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 11.8,
+      "p90": 13.4
+     },
+     "registered": {
+      "median": 9.1,
+      "p90": 10.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T19:54:28.723594+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/static_manipulation/SM35/session_005",
   "family": "static_manipulation",
   "primitive": "SM35",
   "source_session": "20261020/SM35/20261020_104151_session60"
  },
+ "task": {
+  "primitive": "SM35",
+  "instruction": "Turn the screw in with the driver, then take it back out. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
+ },
  "objects": [
   {
    "name": "Table2",

actions/static_manipulation/SM35/session_005/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bd3205755f5057a29a77ce3e430e54d807958f9459733773d70f56832a6e04b
+size 5471717