Release update 2026-11-05: new sessions, instructions, annotations (part 236)

actions/locomanipulation/LM27/session_022/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": "LM27",
+ "instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 133.966556,
+   "video": "left_eye",
+   "video_t_start": 0.039054273746645274
+  }
+ ],
+ "episodes": [
+  {
+   "id": "554bfe50-934a-4762-b8fe-5cff80bd0624",
+   "segment": "segment1",
+   "action": "LM27",
+   "quality": "valid",
+   "start_s": 1.257,
+   "end_s": 126.341,
+   "t_start": 1.2961,
+   "t_end": 126.3801,
+   "instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take."
+  }
+ ]
+}

actions/locomanipulation/LM27/session_022/cameras/gsi_online_calibration.json

@@ -0,0 +1,256 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.4
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.1679,
+   "gate_fail": [],
+   "held_out_px_after": 0.538,
+   "held_out_px_before": 5.423,
+   "inliers": 1868,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2245,
+    -0.6139,
+    -0.9679
+   ],
+   "split_deg": 0.096,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.4603,
+   "gate_fail": [],
+   "held_out_px_after": 0.406,
+   "held_out_px_before": 6.055,
+   "inliers": 3045,
+   "position_fitted": true,
+   "position_mm": [
+    7.31,
+    -18.68,
+    2.2
+   ],
+   "position_sigma_mm": 0.152,
+   "position_split_mm": 0.98,
+   "rotvec_deg": [
+    -0.0992,
+    0.7915,
+    -2.3274
+   ],
+   "split_deg": 0.0961,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.5181,
+   "gate_fail": [],
+   "held_out_px_after": 0.447,
+   "held_out_px_before": 2.974,
+   "inliers": 1931,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.1354,
+    -0.2538,
+    -0.9753
+   ],
+   "split_deg": 0.0705,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.1368,
+   "gate_fail": [],
+   "held_out_px_after": 0.388,
+   "held_out_px_before": 3.155,
+   "inliers": 2714,
+   "position_fitted": true,
+   "position_mm": [
+    6.97,
+    -21.33,
+    2.81
+   ],
+   "position_sigma_mm": 0.146,
+   "position_split_mm": 0.987,
+   "rotvec_deg": [
+    0.2171,
+    -0.3332,
+    -1.065
+   ],
+   "split_deg": 0.0908,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.3426,
+   "gate_fail": [],
+   "held_out_px_after": 0.358,
+   "held_out_px_before": 8.548,
+   "inliers": 3702,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3427,
+    -0.1527,
+    -2.3124
+   ],
+   "split_deg": 0.0248,
+   "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": "74e885d9c26a22eb744e0a93ae7d4566e1335594c4a1de56e4e9132e784b713f",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "d48c467fc5e00e03fa1796405932af88f6c19b58870f11335f09d54552703e51",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "89fdc38e18c8a9fe3697c20239ea39867c2b5743fbea15f087782a596305792f",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "78f3e7995f00c7a30fe604ced34502a6a78ded2344d2b3413573874c0339cdfc",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "bd81752e8d9335f2",
+ "kind": "online_calibration",
+ "output_sha256": "204212aba509201114ef4441c774c7656a6a7b6f32f016b42d43f24db329f492",
+ "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": 40.202,
+  "left_eye": 37.537,
+  "left_front": 43.512,
+  "right": 40.153,
+  "right_eye": 35.174,
+  "right_front": 41.826
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   12765278956000,
+   12766278822666,
+   12770278911555,
+   12771278822666,
+   12774278844888,
+   12775278867111,
+   12778278822666,
+   12779278844888,
+   12780278822666,
+   12781278844888,
+   12787278822666,
+   12788278856000,
+   12791278844888,
+   12792278822666,
+   12795278822666,
+   12796278822666,
+   12797278856000,
+   12803278844888,
+   12804278822666,
+   12808278867111,
+   12809278822666,
+   12810278822666,
+   12811278867111,
+   12817278856000,
+   12818278844888,
+   12819278844888,
+   12822278822666,
+   12823278822666,
+   12828278844888,
+   12829278856000,
+   12832278811555,
+   12833278844888,
+   12836278856000,
+   12837278844888,
+   12841278844888,
+   12842278833777,
+   12846278833777,
+   12847278822666,
+   12848278833777,
+   12855278856000,
+   12856278822666,
+   12857278822666,
+   12858278944888,
+   12863278856000,
+   12864278822666,
+   12867278822666,
+   12868278889333,
+   12871278844888,
+   12872278822666,
+   12873278900444,
+   12874278856000,
+   12880278833777,
+   12881278856000,
+   12883278856000,
+   12884278911555,
+   12885278844888,
+   12886278844888
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM27/session_022/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f920cc209ee53401f7050c2998f091ad218e2c196ce7d7d639eaf862a2335816
+size 770346

actions/locomanipulation/LM27/session_022/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": {
@@ -511,12 +511,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 32.2,
+    "offset_rotvec": [
+     0.5261,
+     0.1893,
+     0.0565
+    ],
+    "dev_deg": {
+     "median": 10.11,
+     "p90": 18.96
+    },
+    "samples": 4000,
+    "accepted": 3940,
+    "wrist_pos_err_mm_median": 56.1,
+    "per_camera": {
+     "head": {
+      "samples": 4000,
+      "accepted": 3940,
+      "gate_deg": 30.0,
+      "offset_deg": 32.2,
+      "tier": "primary",
+      "dev_deg_median": 10.11,
+      "wrist_pos_err_mm_median": 56.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15768,
+     "interpolated": 116,
+     "mean_hand": 200,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9876,
+    "observed_fraction_of_valid": 0.9876,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 30.63,
+     "smplx": 0.84
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.4,
+      "p90": 13.7
+     },
+     "registered": {
+      "median": 9.2,
+      "p90": 12.5
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 58.39,
+    "offset_rotvec": [
+     0.9861,
+     -0.2494,
+     0.0638
+    ],
+    "dev_deg": {
+     "median": 4.09,
+     "p90": 9.7
+    },
+    "samples": 3964,
+    "accepted": 3919,
+    "wrist_pos_err_mm_median": 50.8,
+    "per_camera": {
+     "head": {
+      "samples": 3964,
+      "accepted": 3919,
+      "gate_deg": 30.0,
+      "offset_deg": 58.39,
+      "tier": "primary",
+      "dev_deg_median": 4.09,
+      "wrist_pos_err_mm_median": 50.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15692,
+     "interpolated": 332,
+     "mean_hand": 60,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9963,
+    "observed_fraction_of_valid": 0.9963,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 57.26,
+     "smplx": 0.84
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.1,
+      "p90": 16.7
+     },
+     "registered": {
+      "median": 9.7,
+      "p90": 15.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:51:50.787226+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/LM27/session_022",
   "family": "locomanipulation",
   "primitive": "LM27",
   "source_session": "20261015/LM27/20261015_040832_session63"
  },
+ "task": {
+  "primitive": "LM27",
+  "instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take."
+ },
  "objects": [
   {
    "name": "BigBox",

actions/locomanipulation/LM27/session_022/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:807d2e28009b6105f2cce27691c915585f688b18b534e7577a9d61958279f9a3
+size 5381812

actions/locomanipulation/LM27/session_022/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:9de2b812a33e1b0c84c0e6aa32d65cbc80e3af798a662a726ab78f9aac58523d
-size 6212361
+oid sha256:47e921018d078f5f81008343b9556adf990fdfa835b0f55e1f8d852e929060d1
+size 11570718

actions/locomanipulation/LM27/session_023/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": "LM27",
+ "instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 138.966567,
+   "video": "left_eye",
+   "video_t_start": 0.03921914876989652
+  }
+ ],
+ "episodes": [
+  {
+   "id": "14664aeb-9861-4726-bacc-4c76ea0fa796",
+   "segment": "segment1",
+   "action": "LM27",
+   "quality": "valid",
+   "start_s": 1.533,
+   "end_s": 133.13,
+   "t_start": 1.5722,
+   "t_end": 133.1692,
+   "instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take."
+  }
+ ]
+}

actions/locomanipulation/LM27/session_023/cameras/gsi_online_calibration.json

@@ -0,0 +1,257 @@
+{
+ "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": 1.1842,
+   "gate_fail": [],
+   "held_out_px_after": 0.555,
+   "held_out_px_before": 5.845,
+   "inliers": 1888,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.4819,
+    -0.6306,
+    -0.8788
+   ],
+   "split_deg": 0.0657,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.4729,
+   "gate_fail": [],
+   "held_out_px_after": 0.316,
+   "held_out_px_before": 5.962,
+   "inliers": 3090,
+   "position_fitted": true,
+   "position_mm": [
+    7.05,
+    -20.55,
+    3.39
+   ],
+   "position_sigma_mm": 0.109,
+   "position_split_mm": 0.513,
+   "rotvec_deg": [
+    -0.3388,
+    0.8419,
+    -2.3003
+   ],
+   "split_deg": 0.068,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.4726,
+   "gate_fail": [],
+   "held_out_px_after": 0.486,
+   "held_out_px_before": 4.09,
+   "inliers": 1805,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.1905,
+    -0.1981,
+    -0.8439
+   ],
+   "split_deg": 0.0336,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0644,
+   "gate_fail": [],
+   "held_out_px_after": 0.34,
+   "held_out_px_before": 2.957,
+   "inliers": 3258,
+   "position_fitted": true,
+   "position_mm": [
+    6.91,
+    -22.59,
+    3.87
+   ],
+   "position_sigma_mm": 0.096,
+   "position_split_mm": 0.476,
+   "rotvec_deg": [
+    0.0167,
+    -0.2769,
+    -1.0276
+   ],
+   "split_deg": 0.0437,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.3082,
+   "gate_fail": [],
+   "held_out_px_after": 0.352,
+   "held_out_px_before": 7.981,
+   "inliers": 4655,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3259,
+    -0.0992,
+    -2.2829
+   ],
+   "split_deg": 0.0188,
+   "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": "5cddb7564f3830e25d4bd42c057b3ff4651815fecac587fd9e34ecae54fbb956",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "2d86db2a50df3e4234330840e226de51abd2ccfbb54f001bfd13fa3174b7a19a",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "b1d437b0787b427cab0cc2fbdd5b459008ba2a5e182fea5d7718f47800d1b885",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "f9ef7bcaebdbab3db3c7ee7fd6439107b9d3190e32b858cc9f3fada759e99b37",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "b266ec75778e5f8a",
+ "kind": "online_calibration",
+ "output_sha256": "504d6175190088e971ffb8bc1036d37d6f57a864af21b7b3833b77ca6fc339f4",
+ "overlap": {
+  "left-right": 0.501,
+  "left_eye-left": 0.707,
+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 36.551,
+  "left_eye": 31.775,
+  "left_front": 40.229,
+  "right": 37.988,
+  "right_eye": 31.749,
+  "right_front": 39.172
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   13300586806333,
+   13301586739666,
+   13304586761888,
+   13305586761888,
+   13308586728555,
+   13309586739666,
+   13314586761888,
+   13315586739666,
+   13317586761888,
+   13318586806333,
+   13322586761888,
+   13323586773000,
+   13327586728555,
+   13328586750777,
+   13332586728555,
+   13333586761888,
+   13335586728555,
+   13336586728555,
+   13338586728555,
+   13339586873000,
+   13346586873000,
+   13347586728555,
+   13350586728555,
+   13351586739666,
+   13352586750777,
+   13359586884111,
+   13360586728555,
+   13361586728555,
+   13362586739666,
+   13366586773000,
+   13367586750777,
+   13372586750777,
+   13373586728555,
+   13376586861888,
+   13377586817444,
+   13380586761888,
+   13381586761888,
+   13383586750777,
+   13384586761888,
+   13388586728555,
+   13389586806333,
+   13392586784111,
+   13393586761888,
+   13398586895222,
+   13399586739666,
+   13401586739666,
+   13402586884111,
+   13406586739666,
+   13407586728555,
+   13410586739666,
+   13411586761888,
+   13414586873000,
+   13415586761888,
+   13418586761888,
+   13419586773000,
+   13426586817444,
+   13427586773000,
+   13428586773000
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM27/session_023/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e637a93519401debcfb850418029cc7ec78ec0c54a010733062f55059695596c
+size 799727

actions/locomanipulation/LM27/session_023/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": {
@@ -510,12 +510,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 20.18,
+    "offset_rotvec": [
+     0.3177,
+     0.1516,
+     -0.0121
+    ],
+    "dev_deg": {
+     "median": 4.6,
+     "p90": 9.36
+    },
+    "samples": 4141,
+    "accepted": 4086,
+    "wrist_pos_err_mm_median": 54.9,
+    "per_camera": {
+     "head": {
+      "samples": 4141,
+      "accepted": 4086,
+      "gate_deg": 30.0,
+      "offset_deg": 20.18,
+      "tier": "primary",
+      "dev_deg_median": 4.6,
+      "wrist_pos_err_mm_median": 54.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 16360,
+     "interpolated": 312,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9993,
+    "observed_fraction_of_valid": 0.9993,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 18.71,
+     "smplx": 0.69
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 14.1,
+      "p90": 18.2
+     },
+     "registered": {
+      "median": 13.6,
+      "p90": 17.4
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 34.5,
+    "offset_rotvec": [
+     0.5605,
+     -0.219,
+     0.0223
+    ],
+    "dev_deg": {
+     "median": 5.64,
+     "p90": 10.58
+    },
+    "samples": 4168,
+    "accepted": 4148,
+    "wrist_pos_err_mm_median": 51.6,
+    "per_camera": {
+     "head": {
+      "samples": 4168,
+      "accepted": 4148,
+      "gate_deg": 30.0,
+      "offset_deg": 34.5,
+      "tier": "primary",
+      "dev_deg_median": 5.64,
+      "wrist_pos_err_mm_median": 51.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 16594,
+     "interpolated": 78,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9993,
+    "observed_fraction_of_valid": 0.9993,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 32.3,
+     "smplx": 0.63
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 13.0,
+      "p90": 17.1
+     },
+     "registered": {
+      "median": 12.4,
+      "p90": 15.6
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:51:50.632148+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/LM27/session_023",
   "family": "locomanipulation",
   "primitive": "LM27",
   "source_session": "20261015/LM27/20261015_041727_session66"
  },
+ "task": {
+  "primitive": "LM27",
+  "instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take."
+ },
  "objects": [
   {
    "name": "BigBox",

actions/locomanipulation/LM27/session_023/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05a499cd2598717219a09f97d069cdf4ef17ee2050a38078002d83c48ef19472
+size 5576065