Release update 2026-11-05: new sessions, instructions, annotations (part 298)

actions/locomanipulation/LM32/session_026/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:949542abce835e1af6ad9521183ef51beb4dc2f6d1bad53d97f2f39ce93c1a0d
-size 5883584
+oid sha256:82c0ed3151110113a7e3abe633cadc30077dde3d4cf64ca445bfe1c98e553de3
+size 10691425

actions/locomanipulation/LM32/session_027/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": "LM32",
+ "instruction": "Carry the lidded box and, while you are still walking, open the lid, then close it again. Repeat as you walk back and forth. Do not stop to do it.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 144.100011,
+   "video": "left_eye",
+   "video_t_start": 0.03921208769161308
+  }
+ ],
+ "episodes": [
+  {
+   "id": "a4381dc9-dfd9-4b64-a53d-f8c868f9b748",
+   "segment": "segment1",
+   "action": "LM32",
+   "quality": "valid",
+   "start_s": 1.372,
+   "end_s": 142.493,
+   "t_start": 1.4112,
+   "t_end": 142.5322,
+   "instruction": "Carry the lidded box and, while you are still walking, open the lid, then close it again. Repeat as you walk back and forth. Do not stop to do it."
+  }
+ ]
+}

actions/locomanipulation/LM32/session_027/cameras/gsi_online_calibration.json

@@ -0,0 +1,205 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 12,
+  "median_px": 0.362
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.5524,
+   "gate_fail": [],
+   "held_out_px_after": 0.397,
+   "held_out_px_before": 19.943,
+   "inliers": 1515,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.3132,
+    -0.2057,
+    -0.802
+   ],
+   "split_deg": 0.0316,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.4466,
+   "gate_fail": [],
+   "held_out_px_after": 0.401,
+   "held_out_px_before": 9.738,
+   "inliers": 2662,
+   "position_fitted": true,
+   "position_mm": [
+    0.5,
+    -27.08,
+    -2.59
+   ],
+   "position_sigma_mm": 0.092,
+   "position_split_mm": 0.322,
+   "rotvec_deg": [
+    1.5662,
+    -0.8228,
+    1.6899
+   ],
+   "split_deg": 0.0119,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.5932,
+   "gate_fail": [],
+   "held_out_px_after": 1.058,
+   "held_out_px_before": 7.053,
+   "inliers": 334,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.028,
+    -0.8428,
+    2.844
+   ],
+   "split_deg": 0.0994,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 3.0868,
+   "gate_fail": [],
+   "held_out_px_after": 0.363,
+   "held_out_px_before": 4.136,
+   "inliers": 2790,
+   "position_fitted": true,
+   "position_mm": [
+    0.29,
+    -23.24,
+    -0.18
+   ],
+   "position_sigma_mm": 0.105,
+   "position_split_mm": 0.237,
+   "rotvec_deg": [
+    1.8131,
+    -1.1529,
+    2.2163
+   ],
+   "split_deg": 0.0345,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 0.4147,
+   "gate_fail": [],
+   "held_out_px_after": 0.339,
+   "held_out_px_before": 2.483,
+   "inliers": 2595,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.1794,
+    -0.3738,
+    -0.0083
+   ],
+   "split_deg": 0.0179,
+   "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": "d12826e221fd5355439c0d52b5ed6ef9d5e0ffbaab96c6d88ba6061ebb2b6b39",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "866f9a2d77bb0f3089928f6775566ba6a4d8e4c0117344f28874a101e6a0fac6",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "daa8a14f4fdf1af9bf83e183b81fe3b20701e9c5defa7cbdc5438e2e5b611961",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "6f7fcf1ba55206a73bf2618f1d08aafb493b910828cc6c8a7f9725dade058a72",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "da90058cc5fcadfb",
+ "kind": "online_calibration",
+ "output_sha256": "4fe85b7d7ec83a93b2a0d9d73795ee5c7820321f82b6996d83f8c2cc1c63ed7a",
+ "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": 32.136,
+  "left_eye": 34.511,
+  "left_front": 34.106,
+  "right": 36.139,
+  "right_eye": 35.118,
+  "right_front": 33.285
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   2085981015000,
+   2086981015000,
+   2087981026111,
+   2088981037222,
+   2089981015000,
+   2090981015000,
+   2091981126111,
+   2092981059444,
+   2093981026111
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM32/session_027/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6413a49a89d46d5e04c0833716c38328862d6443294015dfb6a210ff7d10ecc
+size 826118

actions/locomanipulation/LM32/session_027/meta.json

@@ -384,8 +384,8 @@
   "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 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 16.7,
+    "offset_rotvec": [
+     0.0407,
+     0.2213,
+     -0.1852
+    ],
+    "dev_deg": {
+     "median": 16.57,
+     "p90": 28.52
+    },
+    "samples": 4200,
+    "accepted": 3845,
+    "wrist_pos_err_mm_median": 28.5,
+    "per_camera": {
+     "head": {
+      "samples": 4200,
+      "accepted": 3845,
+      "gate_deg": 30.0,
+      "offset_deg": 16.7,
+      "tier": "primary",
+      "dev_deg_median": 16.57,
+      "wrist_pos_err_mm_median": 28.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15474,
+     "interpolated": 1458,
+     "mean_hand": 349,
+     "no_body_fit": 19
+    },
+    "observed_fraction": 0.9787,
+    "observed_fraction_of_valid": 0.9798,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 16.22,
+     "smplx": 1.63
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.5,
+      "p90": 7.9
+     },
+     "registered": {
+      "median": 4.3,
+      "p90": 5.5
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 19.46,
+    "offset_rotvec": [
+     0.2711,
+     0.143,
+     0.1463
+    ],
+    "dev_deg": {
+     "median": 15.15,
+     "p90": 36.07
+    },
+    "samples": 4294,
+    "accepted": 3722,
+    "wrist_pos_err_mm_median": 23.0,
+    "per_camera": {
+     "head": {
+      "samples": 4294,
+      "accepted": 3722,
+      "gate_deg": 30.0,
+      "offset_deg": 19.46,
+      "tier": "primary",
+      "dev_deg_median": 15.15,
+      "wrist_pos_err_mm_median": 23.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14936,
+     "interpolated": 796,
+     "mean_hand": 1549,
+     "no_body_fit": 19
+    },
+    "observed_fraction": 0.9094,
+    "observed_fraction_of_valid": 0.9104,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 19.86,
+     "smplx": 1.33
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.4,
+      "p90": 18.8
+     },
+     "registered": {
+      "median": 9.3,
+      "p90": 18.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:34:19.058494+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/LM32/session_027",
   "family": "locomanipulation",
   "primitive": "LM32",
   "source_session": "20261019/LM32/20261019_093406_session65"
+ },
+ "task": {
+  "primitive": "LM32",
+  "instruction": "Carry the lidded box and, while you are still walking, open the lid, then close it again. Repeat as you walk back and forth. Do not stop to do it."
  }
 }

actions/locomanipulation/LM32/session_027/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15b6dbde056963718befa5420911a2ac4099229eaa13f4cd5712e75f33e64255
+size 5713039

actions/locomanipulation/LM32/session_027/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:127e5865d55aef4e4c5d44f8ff628eb50f8403860a7ab8e57b60f683034c985c
-size 6627440
+oid sha256:cb1937e11176dbc72b58dd08c06521883961428cda1aa29d69e6e2d8548f36cb
+size 12184666

actions/locomanipulation/LM32/session_028/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": "LM32",
+ "instruction": "Carry the lidded box and, while you are still walking, open the lid, then close it again. Repeat as you walk back and forth. Do not stop to do it.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 135.900033,
+   "video": "left_eye",
+   "video_t_start": 0.039636815273707965
+  }
+ ],
+ "episodes": [
+  {
+   "id": "70303ac4-a114-4534-8677-a1bceb6bcec6",
+   "segment": "segment1",
+   "action": "LM32",
+   "quality": "valid",
+   "start_s": 1.16,
+   "end_s": 130.139,
+   "t_start": 1.1996,
+   "t_end": 130.1786,
+   "instruction": "Carry the lidded box and, while you are still walking, open the lid, then close it again. Repeat as you walk back and forth. Do not stop to do it."
+  }
+ ]
+}

actions/locomanipulation/LM32/session_028/cameras/gsi_online_calibration.json

@@ -0,0 +1,264 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 75,
+    "median_px": 6.86,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.36
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 2.5797,
+   "gate_fail": [],
+   "held_out_px_after": 0.467,
+   "held_out_px_before": 8.338,
+   "inliers": 2475,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.2692,
+    -1.1932,
+    0.2856
+   ],
+   "split_deg": 0.0416,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.656,
+   "gate_fail": [],
+   "held_out_px_after": 0.392,
+   "held_out_px_before": 4.31,
+   "inliers": 2694,
+   "position_fitted": true,
+   "position_mm": [
+    -3.07,
+    -16.76,
+    2.61
+   ],
+   "position_sigma_mm": 0.211,
+   "position_split_mm": 0.91,
+   "rotvec_deg": [
+    0.063,
+    -0.0789,
+    0.6482
+   ],
+   "split_deg": 0.0237,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 4.0113,
+   "gate_fail": [],
+   "held_out_px_after": 0.571,
+   "held_out_px_before": 14.234,
+   "inliers": 1059,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.35,
+    -1.1874,
+    3.0263
+   ],
+   "split_deg": 0.0816,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.0013,
+   "gate_fail": [],
+   "held_out_px_after": 0.343,
+   "held_out_px_before": 5.513,
+   "inliers": 3607,
+   "position_fitted": true,
+   "position_mm": [
+    0.43,
+    -13.72,
+    7.61
+   ],
+   "position_sigma_mm": 0.195,
+   "position_split_mm": 0.347,
+   "rotvec_deg": [
+    0.4045,
+    -0.9156,
+    1.733
+   ],
+   "split_deg": 0.0314,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.8405,
+   "gate_fail": [],
+   "held_out_px_after": 0.33,
+   "held_out_px_before": 5.047,
+   "inliers": 5467,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.7274,
+    -0.2141,
+    -0.3626
+   ],
+   "split_deg": 0.0139,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e3296774a321bb51",
+ "factory_root_name": "e3296774a321bb51",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "60780955331ffa84d514c87d0195f3f93f529568d5f3ec2e26c16353fcc6b8c6",
+   "source_sha256": "2bf43346f9825da1c051096d46ceb924252959c0c3fed4ac9c166c6096121ae0"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "3de0895997c7f7be0a21efef5421f50119441936aca66ae36049e772c39af567",
+   "source_sha256": "b80f390816142bc598f6a58e17810083d07270f17802c79b0d33dade12e1a7ed"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "55658f28cab9f875eb631d89877dcf540347ae1dd513b858ca1d548c1186de6d",
+   "source_sha256": "55ee2a9af25410709c73762b726e1a41e5450b277090a5256571601dd5fd719b"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "c502f3c55c2245b59ce2d75553370c62eba97e4ed6067ab3ff605adc9b47aea7",
+   "source_sha256": "b2fcef709086e19cb082ae12586aebd1a6fa9a92db90015c1c5a641f4588dfc7"
+  }
+ },
+ "input_fingerprint": "1d48376fbaeb2dc9",
+ "kind": "online_calibration",
+ "output_sha256": "94c6212be08b746ed61d5dbd1313a5741ca0bb265b20ec0f3772a6cf378317a6",
+ "overlap": {
+  "left-right": 0.489,
+  "left_eye-left": 0.684,
+  "left_eye-right": 0.685,
+  "left_eye-right_eye": 1.0,
+  "left_front-left": 0.466,
+  "left_front-left_eye": 0.717,
+  "left_front-right": 0.447,
+  "left_front-right_eye": 0.72,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.672,
+  "right_eye-right": 0.676,
+  "right_front-left": 0.469,
+  "right_front-left_eye": 0.746,
+  "right_front-right": 0.472,
+  "right_front-right_eye": 0.74
+ },
+ "picture_change": {
+  "left": 40.625,
+  "left_eye": 37.802,
+  "left_front": 43.389,
+  "right": 44.055,
+  "right_eye": 37.51,
+  "right_front": 43.729
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   2456076081555,
+   2457076092666,
+   2461076148222,
+   2462076081555,
+   2467076103777,
+   2468076081555,
+   2471076081555,
+   2472076081555,
+   2475076114888,
+   2476076148222,
+   2479076081555,
+   2480076114888,
+   2484076070444,
+   2485076114888,
+   2488076081555,
+   2489076114888,
+   2494076103777,
+   2495076148222,
+   2498076114888,
+   2499076081555,
+   2503076081555,
+   2504076170444,
+   2506076126000,
+   2507076159333,
+   2513076092666,
+   2514076159333,
+   2518076081555,
+   2519076159333,
+   2522076092666,
+   2523076114888,
+   2524076081555,
+   2530076092666,
+   2531076148222,
+   2534076081555,
+   2535076081555,
+   2539076081555,
+   2540076081555,
+   2543076081555,
+   2544076092666,
+   2547076170444,
+   2548076170444,
+   2552076081555,
+   2553076159333,
+   2557076081555,
+   2558076092666,
+   2559076148222,
+   2566076126000,
+   2567076126000,
+   2568076092666,
+   2575076114888,
+   2576076114888,
+   2577076081555,
+   2584076114888,
+   2585076081555,
+   2586076081555,
+   2587076081555
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM32/session_028/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bc4be05984f07ff6ce76ef7ebf8c00e7c9f1066a81a4463190f11c377ce737b
+size 779737

actions/locomanipulation/LM32/session_028/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": {
@@ -500,10 +500,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 27.0,
+    "offset_rotvec": [
+     0.4335,
+     -0.0445,
+     0.1794
+    ],
+    "dev_deg": {
+     "median": 17.88,
+     "p90": 31.57
+    },
+    "samples": 3626,
+    "accepted": 3175,
+    "wrist_pos_err_mm_median": 49.7,
+    "per_camera": {
+     "head": {
+      "samples": 3626,
+      "accepted": 3175,
+      "gate_deg": 30.0,
+      "offset_deg": 27.0,
+      "tier": "primary",
+      "dev_deg_median": 17.88,
+      "wrist_pos_err_mm_median": 49.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12849,
+     "interpolated": 2662,
+     "mean_hand": 797,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9507,
+    "observed_fraction_of_valid": 0.9511,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 17.28,
+     "smplx": 1.65
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 15.5,
+      "p90": 28.6
+     },
+     "registered": {
+      "median": 15.3,
+      "p90": 27.0
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 22.86,
+    "offset_rotvec": [
+     0.1803,
+     -0.2429,
+     0.2602
+    ],
+    "dev_deg": {
+     "median": 13.71,
+     "p90": 25.78
+    },
+    "samples": 4009,
+    "accepted": 3765,
+    "wrist_pos_err_mm_median": 28.9,
+    "per_camera": {
+     "head": {
+      "samples": 4009,
+      "accepted": 3765,
+      "gate_deg": 30.0,
+      "offset_deg": 22.86,
+      "tier": "primary",
+      "dev_deg_median": 13.71,
+      "wrist_pos_err_mm_median": 28.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15133,
+     "interpolated": 1170,
+     "mean_hand": 5,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9992,
+    "observed_fraction_of_valid": 0.9997,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 22.85,
+     "smplx": 1.4
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 13.5,
+      "p90": 20.4
+     },
+     "registered": {
+      "median": 13.2,
+      "p90": 19.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T19:35:14.346652+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/LM32/session_028",
   "family": "locomanipulation",
   "primitive": "LM32",
   "source_session": "20261021/LM32/20261021_010850_session6"
+ },
+ "task": {
+  "primitive": "LM32",
+  "instruction": "Carry the lidded box and, while you are still walking, open the lid, then close it again. Repeat as you walk back and forth. Do not stop to do it."
  }
 }

actions/locomanipulation/LM32/session_028/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a57fcb2e699b3838e6e04e012808070123efff661fee1837f8713b86d9e9517
+size 5162096