Release update 2026-11-05: new sessions, instructions, annotations (part 23)

actions/locomanipulation/LM15/session_014/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:27cdfa23e709594cf203535993739f452393860ac5ac572517af5bca3a706268
-size 4589109
+oid sha256:4c2de7c9272c9158149dda6aa8b994c74d513c7d6a5466442ee70d4599dd3f23
+size 7210206

actions/locomanipulation/LM15/session_015/annotations.json

@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "LM15",
+ "instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 103.966689,
+   "video": "left_eye",
+   "video_t_start": 0.03889169953771976
+  }
+ ],
+ "episodes": [
+  {
+   "id": "6e530099-761e-4af0-9ced-b7ab6408b899",
+   "segment": "segment1",
+   "action": "LM15",
+   "quality": "valid",
+   "start_s": 0.453,
+   "end_s": 102.792,
+   "t_start": 0.4919,
+   "t_end": 102.8309,
+   "instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room."
+  }
+ ]
+}

actions/locomanipulation/LM15/session_015/cameras/gsi_online_calibration.json

@@ -0,0 +1,255 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.368
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.0882,
+   "gate_fail": [],
+   "held_out_px_after": 0.459,
+   "held_out_px_before": 4.303,
+   "inliers": 2241,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.4483,
+    -0.392,
+    -0.9108
+   ],
+   "split_deg": 0.087,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9174,
+   "gate_fail": [],
+   "held_out_px_after": 0.429,
+   "held_out_px_before": 6.41,
+   "inliers": 3272,
+   "position_fitted": true,
+   "position_mm": [
+    5.17,
+    -14.89,
+    6.83
+   ],
+   "position_sigma_mm": 0.322,
+   "position_split_mm": 4.92,
+   "rotvec_deg": [
+    0.1118,
+    0.5467,
+    -1.8344
+   ],
+   "split_deg": 0.194,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.6761,
+   "gate_fail": [],
+   "held_out_px_after": 0.619,
+   "held_out_px_before": 3.931,
+   "inliers": 1045,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.4823,
+    -0.7767,
+    0.0932
+   ],
+   "split_deg": 0.1273,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.7392,
+   "gate_fail": [],
+   "held_out_px_after": 0.355,
+   "held_out_px_before": 3.735,
+   "inliers": 3369,
+   "position_fitted": true,
+   "position_mm": [
+    5.99,
+    -16.04,
+    6.63
+   ],
+   "position_sigma_mm": 0.334,
+   "position_split_mm": 3.926,
+   "rotvec_deg": [
+    0.249,
+    -0.5326,
+    -0.4481
+   ],
+   "split_deg": 0.1283,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.3759,
+   "gate_fail": [],
+   "held_out_px_after": 0.341,
+   "held_out_px_before": 4.938,
+   "inliers": 4213,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.4868,
+    -0.061,
+    -1.2854
+   ],
+   "split_deg": 0.0195,
+   "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": "1f4153a720378d82c751b8e83c4cafe4290da904b88f6bb57920bc1031d1982d",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "ffd85b94b3ae84ac0c9eef71e6eb8992215ca54cc5417e02e58f13fa807ab74a",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "05cffa5eaae23197427b714eb34a3390f266cb02f74e412aed5d42ede727e11e",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "460e997f2dcb381f7910466247e60c55a1d6a6b96826ac693bb3d1147f9cc72d",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "bdf139b956daa378",
+ "kind": "online_calibration",
+ "output_sha256": "a847b65cb5056a27b570c0c6222b19e01b23b60d13f814506707a85c3e901b0f",
+ "overlap": {
+  "left-right": 0.501,
+  "left_eye-left": 0.707,
+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 39.171,
+  "left_eye": 31.411,
+  "left_front": 42.301,
+  "right": 35.014,
+  "right_eye": 30.927,
+  "right_front": 39.538
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   8193247163111,
+   8194247140888,
+   8196247207555,
+   8197247129777,
+   8198247163111,
+   8199247118666,
+   8204247196444,
+   8205247118666,
+   8206247163111,
+   8208247152000,
+   8209247140888,
+   8214247152000,
+   8215247196444,
+   8217247163111,
+   8218247107555,
+   8219247118666,
+   8221247140888,
+   8222247118666,
+   8225247163111,
+   8226247118666,
+   8229247140888,
+   8230247107555,
+   8234247152000,
+   8235247218666,
+   8236247196444,
+   8237247240888,
+   8239247163111,
+   8240247140888,
+   8241247185333,
+   8242247163111,
+   8245247174222,
+   8246247118666,
+   8251247107555,
+   8252247118666,
+   8254247107555,
+   8255247140888,
+   8257247174222,
+   8258247140888,
+   8259247107555,
+   8264247185333,
+   8265247196444,
+   8266247207555,
+   8269247140888,
+   8270247163111,
+   8271247163111,
+   8272247118666,
+   8276247152000,
+   8277247118666,
+   8278247229777,
+   8279247129777,
+   8282247118666,
+   8283247152000,
+   8285247174222,
+   8286247118666,
+   8290247152000,
+   8291247152000
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM15/session_015/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83c6bf043f766f0c981d9a3a68af55a0913a96369ace7dd25929f87f76d07864
+size 595437

actions/locomanipulation/LM15/session_015/meta.json

@@ -341,8 +341,8 @@
   "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": {
@@ -534,10 +534,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.1636421861770094
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 32.33,
+    "offset_rotvec": [
+     0.4445,
+     -0.3336,
+     -0.0975
+    ],
+    "dev_deg": {
+     "median": 14.93,
+     "p90": 31.72
+    },
+    "samples": 1329,
+    "accepted": 1170,
+    "wrist_pos_err_mm_median": 335.2,
+    "per_camera": {
+     "head": {
+      "samples": 1329,
+      "accepted": 1170,
+      "gate_deg": 30.0,
+      "offset_deg": 32.33,
+      "tier": "primary",
+      "dev_deg_median": 14.93,
+      "wrist_pos_err_mm_median": 335.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 4820,
+     "interpolated": 3400,
+     "mean_hand": 4264,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.6584,
+    "observed_fraction_of_valid": 0.6584,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 42.24,
+     "smplx": 0.49
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 11.7,
+      "p90": 20.0
+     },
+     "registered": {
+      "median": 11.0,
+      "p90": 19.4
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 43.39,
+    "offset_rotvec": [
+     0.6175,
+     -0.1355,
+     0.417
+    ],
+    "dev_deg": {
+     "median": 15.17,
+     "p90": 71.49
+    },
+    "samples": 2272,
+    "accepted": 1712,
+    "wrist_pos_err_mm_median": 41.7,
+    "per_camera": {
+     "head": {
+      "samples": 2272,
+      "accepted": 1712,
+      "gate_deg": 30.0,
+      "offset_deg": 43.39,
+      "tier": "primary",
+      "dev_deg_median": 15.17,
+      "wrist_pos_err_mm_median": 41.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 6758,
+     "interpolated": 274,
+     "mean_hand": 5452,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.5633,
+    "observed_fraction_of_valid": 0.5633,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 41.35,
+     "smplx": 1.48
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 15.9,
+      "p90": 26.7
+     },
+     "registered": {
+      "median": 15.6,
+      "p90": 25.9
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:57:10.918917+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/LM15/session_015",
   "family": "locomanipulation",
   "primitive": "LM15",
   "source_session": "20260919/LM15/20260919_124642_session224"
+ },
+ "task": {
+  "primitive": "LM15",
+  "instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room."
  }
 }

actions/locomanipulation/LM15/session_015/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e5d11a626a21cb9c688cd2f75acdd6f26889b3ada86146c63232284dcd41fbc
+size 2540323

actions/locomanipulation/LM15/session_015/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e7573643a862311acc49276a190dd037272d03d871a3d2678a9428896e2ea4b1
-size 4823897
+oid sha256:37792a16f6f29a532948efc85923d5467b4bb763ae399377c07c2a53b03a0d65
+size 7867849

actions/locomanipulation/LM15/session_016/annotations.json

@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "LM15",
+ "instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 103.966744,
+   "video": "left_eye",
+   "video_t_start": 0.03916468050788913
+  }
+ ],
+ "episodes": [
+  {
+   "id": "5795c524-a7bf-4cb1-a4f7-1dedd180995e",
+   "segment": "segment1",
+   "action": "LM15",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 98.029,
+   "t_start": 0.0392,
+   "t_end": 98.0682,
+   "instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room."
+  }
+ ]
+}

actions/locomanipulation/LM15/session_016/cameras/gsi_online_calibration.json

@@ -0,0 +1,254 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.373
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.8808,
+   "gate_fail": [],
+   "held_out_px_after": 0.518,
+   "held_out_px_before": 3.941,
+   "inliers": 2018,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.0885,
+    -0.6534,
+    -0.5839
+   ],
+   "split_deg": 0.1002,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.7409,
+   "gate_fail": [],
+   "held_out_px_after": 0.415,
+   "held_out_px_before": 5.201,
+   "inliers": 3065,
+   "position_fitted": true,
+   "position_mm": [
+    -3.81,
+    -12.87,
+    8.69
+   ],
+   "position_sigma_mm": 0.39,
+   "position_split_mm": 6.663,
+   "rotvec_deg": [
+    -0.1452,
+    0.5382,
+    -1.6492
+   ],
+   "split_deg": 0.0436,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.3471,
+   "gate_fail": [],
+   "held_out_px_after": 0.499,
+   "held_out_px_before": 4.723,
+   "inliers": 1643,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.2429,
+    -0.4523,
+    0.2556
+   ],
+   "split_deg": 0.1325,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.6908,
+   "gate_fail": [],
+   "held_out_px_after": 0.38,
+   "held_out_px_before": 3.954,
+   "inliers": 2957,
+   "position_fitted": true,
+   "position_mm": [
+    9.79,
+    -12.59,
+    8.67
+   ],
+   "position_sigma_mm": 0.394,
+   "position_split_mm": 2.36,
+   "rotvec_deg": [
+    0.203,
+    -0.5828,
+    -0.3104
+   ],
+   "split_deg": 0.0305,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.3528,
+   "gate_fail": [],
+   "held_out_px_after": 0.328,
+   "held_out_px_before": 5.382,
+   "inliers": 4311,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.4026,
+    -0.016,
+    -1.2914
+   ],
+   "split_deg": 0.0119,
+   "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": "14a29cb47ffd960d564281a20e26a08f5fce00c79b25d2238a83aa7ce8f06db4",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "0d20e7c32d9111137cdbe5b24eae5c07003b5ba204b0d4e2c012ed33fe9aa0c5",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "78934eaf35250947226cdd4b0c751f4701b3aab3b53f363cd9da28d2b2c1d3b0",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "9c1f5d26949f4d3fe3046baefaa1796604d88e0cfc859952149e9a983a82d700",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "502df880ee95ae17",
+ "kind": "online_calibration",
+ "output_sha256": "dcd657f73d4a93b195de01378d085d331a90e312076cc8177bdf0184944d20cf",
+ "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": 37.419,
+  "left_eye": 30.632,
+  "left_front": 35.527,
+  "right": 35.45,
+  "right_eye": 29.891,
+  "right_front": 35.003
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   19708579078222,
+   19709579111555,
+   19714579067111,
+   19715579111555,
+   19717579078222,
+   19718579122666,
+   19719579067111,
+   19720579078222,
+   19722579067111,
+   19723579078222,
+   19727579067111,
+   19728579067111,
+   19731579067111,
+   19732579056000,
+   19733579056000,
+   19736579067111,
+   19737579056000,
+   19740579067111,
+   19741579111555,
+   19742579122666,
+   19747579056000,
+   19748579133777,
+   19749579133777,
+   19750579122666,
+   19751579067111,
+   19752579089333,
+   19755579122666,
+   19756579056000,
+   19760579067111,
+   19761579156000,
+   19762579122666,
+   19767579078222,
+   19768579067111,
+   19769579078222,
+   19772579067111,
+   19773579200444,
+   19776579078222,
+   19777579122666,
+   19778579111555,
+   19779579067111,
+   19783579078222,
+   19784579056000,
+   19785579078222,
+   19788579144888,
+   19789579078222,
+   19792579056000,
+   19793579122666,
+   19794579067111,
+   19795579211555,
+   19799579078222,
+   19800579111555,
+   19802579067111,
+   19803579078222,
+   19804579156000,
+   19805579056000
+  ]
+ },
+ "version": 1
+}

actions/locomanipulation/LM15/session_016/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ad8ca88d461c02da26fe43c0b0d060dec2b2735d5bb5186d05ed54cb388d67e
+size 600347

actions/locomanipulation/LM15/session_016/meta.json

@@ -329,8 +329,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -514,10 +514,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.854080344424973
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 11.43,
+    "offset_rotvec": [
+     0.1232,
+     -0.0518,
+     0.148
+    ],
+    "dev_deg": {
+     "median": 12.9,
+     "p90": 24.83
+    },
+    "samples": 2855,
+    "accepted": 2707,
+    "wrist_pos_err_mm_median": 54.8,
+    "per_camera": {
+     "head": {
+      "samples": 2855,
+      "accepted": 2707,
+      "gate_deg": 30.0,
+      "offset_deg": 11.43,
+      "tier": "primary",
+      "dev_deg_median": 12.9,
+      "wrist_pos_err_mm_median": 54.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10931,
+     "interpolated": 1232,
+     "mean_hand": 313,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9743,
+    "observed_fraction_of_valid": 0.9749,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.35,
+     "smplx": 0.85
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.1,
+      "p90": 9.8
+     },
+     "registered": {
+      "median": 7.6,
+      "p90": 8.7
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 6.18,
+    "offset_rotvec": [
+     -0.0656,
+     -0.0609,
+     0.06
+    ],
+    "dev_deg": {
+     "median": 7.23,
+     "p90": 19.79
+    },
+    "samples": 2761,
+    "accepted": 2652,
+    "wrist_pos_err_mm_median": 82.4,
+    "per_camera": {
+     "head": {
+      "samples": 2761,
+      "accepted": 2652,
+      "gate_deg": 30.0,
+      "offset_deg": 6.18,
+      "tier": "primary",
+      "dev_deg_median": 7.23,
+      "wrist_pos_err_mm_median": 82.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10707,
+     "interpolated": 1380,
+     "mean_hand": 389,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9682,
+    "observed_fraction_of_valid": 0.9688,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 9.01,
+     "smplx": 0.67
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.9,
+      "p90": 11.2
+     },
+     "registered": {
+      "median": 6.2,
+      "p90": 9.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:53:30.961138+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/LM15/session_016",
   "family": "locomanipulation",
   "primitive": "LM15",
   "source_session": "20260920/LM15/20260920_082655_session85"
+ },
+ "task": {
+  "primitive": "LM15",
+  "instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room."
  }
 }

actions/locomanipulation/LM15/session_016/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc187cb43c2db4144a772f1026149b9bc48d9bb0eec3bee94d3c04ae7a0c1824
+size 3820461