Release update 2026-11-05: new sessions, instructions, annotations (part 51)

actions/locomotion_primitives/P10/session_013/annotations.json

@@ -0,0 +1,149 @@
+{
+ "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": "P10",
+ "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 108.966678,
+   "video": "left_eye",
+   "video_t_start": 0.03943248673271871
+  }
+ ],
+ "episodes": [
+  {
+   "id": "b6d0ed3c-e529-4bb5-b941-651077963fef",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 7.849,
+   "t_start": 0.0394,
+   "t_end": 7.8884,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "c7c0dbbe-fcdc-4db5-a6d1-0cd3cd5690e2",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 7.974,
+   "end_s": 14.894,
+   "t_start": 8.0134,
+   "t_end": 14.9334,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "4090af4f-bb28-44ab-a4fa-e25e4a9f7f19",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 15.313,
+   "end_s": 22.979,
+   "t_start": 15.3524,
+   "t_end": 23.0184,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "0b73b1df-092a-4230-afc0-3219acd3eb8d",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 23.394,
+   "end_s": 31.943,
+   "t_start": 23.4334,
+   "t_end": 31.9824,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "3df1558d-79b5-4036-adcd-0badddf53955",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 32.37,
+   "end_s": 40.254,
+   "t_start": 32.4094,
+   "t_end": 40.2934,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "7d804333-0bb3-4e2b-a715-dfedbca4d132",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 40.254,
+   "end_s": 49.428,
+   "t_start": 40.2934,
+   "t_end": 49.4674,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "e2a69611-3176-4751-9353-c5cd1730cd7b",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 49.812,
+   "end_s": 58.405,
+   "t_start": 49.8514,
+   "t_end": 58.4444,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "c3d774f4-55d9-4fbc-8e9a-d023e5c4a4b1",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 58.668,
+   "end_s": 68.829,
+   "t_start": 58.7074,
+   "t_end": 68.8684,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "65c81cc5-0d83-4e93-8f48-d1c3206201e9",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 69.231,
+   "end_s": 77.528,
+   "t_start": 69.2704,
+   "t_end": 77.5674,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "ee460c90-a494-47e3-94ad-f2ec73c1dc15",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 78.035,
+   "end_s": 87.014,
+   "t_start": 78.0744,
+   "t_end": 87.0534,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "4b366be4-565c-485f-bbd3-344619287247",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 87.249,
+   "end_s": 96.427,
+   "t_start": 87.2884,
+   "t_end": 96.4664,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "471fd188-f3f9-4b2d-9599-25a96898ccc2",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 96.798,
+   "end_s": 104.288,
+   "t_start": 96.8374,
+   "t_end": 104.3274,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  }
+ ]
+}

actions/locomotion_primitives/P10/session_013/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb52dbdf44026e86cedf03d20746224b88933a2eb080600f026af8edb6ca0cb6
+size 628739

actions/locomotion_primitives/P10/session_013/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": {
@@ -533,10 +533,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.0321244849745008
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 12.58,
+    "offset_rotvec": [
+     0.1799,
+     -0.0161,
+     -0.1249
+    ],
+    "dev_deg": {
+     "median": 9.84,
+     "p90": 17.34
+    },
+    "samples": 2155,
+    "accepted": 2116,
+    "wrist_pos_err_mm_median": 161.1,
+    "per_camera": {
+     "head": {
+      "samples": 2155,
+      "accepted": 2116,
+      "gate_deg": 30.0,
+      "offset_deg": 12.58,
+      "tier": "primary",
+      "dev_deg_median": 9.84,
+      "wrist_pos_err_mm_median": 161.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 8690,
+     "interpolated": 4118,
+     "mean_hand": 276,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9789,
+    "observed_fraction_of_valid": 0.9789,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.62,
+     "smplx": 0.46
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.8,
+      "p90": 12.9
+     },
+     "registered": {
+      "median": 9.9,
+      "p90": 11.9
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 14.09,
+    "offset_rotvec": [
+     -0.1952,
+     -0.0938,
+     0.1164
+    ],
+    "dev_deg": {
+     "median": 12.1,
+     "p90": 30.86
+    },
+    "samples": 2201,
+    "accepted": 1963,
+    "wrist_pos_err_mm_median": 168.4,
+    "per_camera": {
+     "head": {
+      "samples": 2201,
+      "accepted": 1963,
+      "gate_deg": 30.0,
+      "offset_deg": 14.09,
+      "tier": "primary",
+      "dev_deg_median": 12.1,
+      "wrist_pos_err_mm_median": 168.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 8054,
+     "interpolated": 4138,
+     "mean_hand": 892,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9318,
+    "observed_fraction_of_valid": 0.9318,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 17.2,
+     "smplx": 0.62
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.5,
+      "p90": 10.1
+     },
+     "registered": {
+      "median": 6.2,
+      "p90": 9.1
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:59:47.141168+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/locomotion_primitives/P10/session_013",
   "family": "locomotion_primitives",
   "primitive": "P10",
   "source_session": "20260918/P10/20260918_012342_session10"
+ },
+ "task": {
+  "primitive": "P10",
+  "instruction": "Walk straight; turn 90\u00b0 left/right while continuing to walk; continue."
  }
 }

actions/locomotion_primitives/P10/session_013/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7588380ec880c2d783133ea8cafe66e4b6cf339b1c3f2715e3bb1b0007d91c3d
+size 3018175

actions/locomotion_primitives/P10/session_013/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:22dde63d7637603ed12ffb70186c97259acff60eacf57870f8fbfffc42cf9e71
-size 5030628
+oid sha256:2c33fd2ae90e1e6bcab2caa60637fd225f161e80a0d26958d81a78c1cf2e6853
+size 9292730

actions/locomotion_primitives/P10/session_014/annotations.json

@@ -0,0 +1,149 @@
+{
+ "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": "P10",
+ "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 88.966656,
+   "video": "left_eye",
+   "video_t_start": 0.038602048965974856
+  }
+ ],
+ "episodes": [
+  {
+   "id": "d004bab3-3315-4688-9e87-238ae8979d9d",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 5.393,
+   "t_start": 0.0386,
+   "t_end": 5.4316,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "03b8bbf1-873a-4243-9305-a6b66816b862",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 7.247,
+   "end_s": 12.645,
+   "t_start": 7.2856,
+   "t_end": 12.6836,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "1f199a4d-3069-4b06-aec8-cfb889d0f8f0",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 14.532,
+   "end_s": 21.234,
+   "t_start": 14.5706,
+   "t_end": 21.2726,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "c4368e1d-f48f-4d88-8253-a11b1fce85c6",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 23.178,
+   "end_s": 28.368,
+   "t_start": 23.2166,
+   "t_end": 28.4066,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "dd1cb7e5-c0f6-4ad2-807a-6801a3531e2e",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 30.174,
+   "end_s": 35.756,
+   "t_start": 30.2126,
+   "t_end": 35.7946,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "ce035db3-dbe0-4d9c-8d73-15183fd8ec14",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 37.115,
+   "end_s": 42.026,
+   "t_start": 37.1536,
+   "t_end": 42.0646,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "3da287af-adb1-4ad2-ac57-c47407456bbb",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 43.848,
+   "end_s": 48.559,
+   "t_start": 43.8866,
+   "t_end": 48.5976,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "f2fcef14-829e-46db-8a87-407973852d6a",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 49.853,
+   "end_s": 55.075,
+   "t_start": 49.8916,
+   "t_end": 55.1136,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "f6df5766-f666-4e6b-8cba-250625c6aa09",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 56.515,
+   "end_s": 61.458,
+   "t_start": 56.5536,
+   "t_end": 61.4966,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "615c538f-3caf-4a20-81a7-221112037086",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 62.551,
+   "end_s": 67.35,
+   "t_start": 62.5896,
+   "t_end": 67.3886,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "d51efde4-7a34-4a88-ab9d-877ba0643b77",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 68.68,
+   "end_s": 73.591,
+   "t_start": 68.7186,
+   "t_end": 73.6296,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "a31e0278-5e4a-4708-bb04-03d7276eecb6",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 74.781,
+   "end_s": 79.98,
+   "t_start": 74.8196,
+   "t_end": 80.0186,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  }
+ ]
+}

actions/locomotion_primitives/P10/session_014/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3f116addc09400bae0946c5b54ed78de5992ddb2dec93e440efac98815f7e24
+size 514072

actions/locomotion_primitives/P10/session_014/meta.json

@@ -326,8 +326,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -524,10 +524,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.7637779446951902
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 16.91,
+    "offset_rotvec": [
+     0.2201,
+     0.0608,
+     -0.187
+    ],
+    "dev_deg": {
+     "median": 10.53,
+     "p90": 33.14
+    },
+    "samples": 2202,
+    "accepted": 1897,
+    "wrist_pos_err_mm_median": 122.9,
+    "per_camera": {
+     "head": {
+      "samples": 2202,
+      "accepted": 1897,
+      "gate_deg": 30.0,
+      "offset_deg": 16.91,
+      "tier": "primary",
+      "dev_deg_median": 10.53,
+      "wrist_pos_err_mm_median": 122.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 7776,
+     "interpolated": 2896,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9989,
+    "observed_fraction_of_valid": 0.9989,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 19.55,
+     "smplx": 0.61
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.4,
+      "p90": 18.3
+     },
+     "registered": {
+      "median": 10.2,
+      "p90": 17.3
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 25.18,
+    "offset_rotvec": [
+     0.245,
+     -0.072,
+     0.3576
+    ],
+    "dev_deg": {
+     "median": 9.62,
+     "p90": 24.99
+    },
+    "samples": 1950,
+    "accepted": 1797,
+    "wrist_pos_err_mm_median": 112.0,
+    "per_camera": {
+     "head": {
+      "samples": 1950,
+      "accepted": 1797,
+      "gate_deg": 30.0,
+      "offset_deg": 25.18,
+      "tier": "primary",
+      "dev_deg_median": 9.62,
+      "wrist_pos_err_mm_median": 112.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 7318,
+     "interpolated": 2942,
+     "mean_hand": 424,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9603,
+    "observed_fraction_of_valid": 0.9603,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 21.27,
+     "smplx": 0.72
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 12.8,
+      "p90": 25.9
+     },
+     "registered": {
+      "median": 11.7,
+      "p90": 24.2
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:46:47.912056+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/locomotion_primitives/P10/session_014",
   "family": "locomotion_primitives",
   "primitive": "P10",
   "source_session": "20260921/P10/20260921_010849_session11"
+ },
+ "task": {
+  "primitive": "P10",
+  "instruction": "Walk straight; turn 90\u00b0 left/right while continuing to walk; continue."
  }
 }

actions/locomotion_primitives/P10/session_014/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2d4597190eb0f5c783d869522ed1379815779acacff827c6a170695425173e4
+size 2850705

actions/locomotion_primitives/P10/session_014/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:19cd98519f059180af4a3efc7f399da6aa17d5356b868b00a700be8fdad0d8a3
-size 4106099
+oid sha256:3e06b31375672d4e7b215f4c6492e22b1649c37f5b7708b094bd94fedaca8b31
+size 7635434

actions/locomotion_primitives/P10/session_015/annotations.json

@@ -0,0 +1,127 @@
+{
+ "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": "P10",
+ "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 103.966711,
+   "video": "left_eye",
+   "video_t_start": 0.03875592444852072
+  }
+ ],
+ "episodes": [
+  {
+   "id": "80f96331-fa0b-43d4-a46e-39cad3713772",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 7.516,
+   "t_start": 0.0388,
+   "t_end": 7.5548,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "9b8160e7-2dad-4250-84c1-4e26a0812348",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 9.654,
+   "end_s": 16.051,
+   "t_start": 9.6928,
+   "t_end": 16.0898,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "4df151b6-b2c7-4c57-befd-7130f9c97ca9",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 20.081,
+   "end_s": 27.29,
+   "t_start": 20.1198,
+   "t_end": 27.3288,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "8faec391-c9fc-4d86-9026-59eddd4f9189",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 30.052,
+   "end_s": 36.621,
+   "t_start": 30.0908,
+   "t_end": 36.6598,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "291d0c79-2bde-4004-a233-df713b19364c",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 39.26,
+   "end_s": 47.614,
+   "t_start": 39.2988,
+   "t_end": 47.6528,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "4c598855-2a4c-4ff9-94bf-b310a0e33578",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 49.772,
+   "end_s": 55.673,
+   "t_start": 49.8108,
+   "t_end": 55.7118,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "c6cf2cd9-4e87-461c-adc0-bf6380b221e3",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 58.105,
+   "end_s": 65.313,
+   "t_start": 58.1438,
+   "t_end": 65.3518,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "ec1347e1-851b-4cda-b173-0bf88ce4a918",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 67.826,
+   "end_s": 74.346,
+   "t_start": 67.8648,
+   "t_end": 74.3848,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "7e628fef-95f3-443a-9173-dbb783769c61",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 76.345,
+   "end_s": 85.294,
+   "t_start": 76.3838,
+   "t_end": 85.3328,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "cba3bd23-456e-4d4a-af02-b1950d6fd40c",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 88.327,
+   "end_s": 96.365,
+   "t_start": 88.3658,
+   "t_end": 96.4038,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  }
+ ]
+}

actions/locomotion_primitives/P10/session_015/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": 1.0323,
+   "gate_fail": [],
+   "held_out_px_after": 0.565,
+   "held_out_px_before": 4.771,
+   "inliers": 1348,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2207,
+    -0.4797,
+    -0.887
+   ],
+   "split_deg": 0.0301,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.1648,
+   "gate_fail": [],
+   "held_out_px_after": 0.388,
+   "held_out_px_before": 5.304,
+   "inliers": 2372,
+   "position_fitted": true,
+   "position_mm": [
+    -1.39,
+    -12.59,
+    9.11
+   ],
+   "position_sigma_mm": 0.483,
+   "position_split_mm": 0.609,
+   "rotvec_deg": [
+    -0.1753,
+    0.7676,
+    -2.0165
+   ],
+   "split_deg": 0.0418,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.2096,
+   "gate_fail": [],
+   "held_out_px_after": 0.462,
+   "held_out_px_before": 4.551,
+   "inliers": 1508,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.0992,
+    -0.3375,
+    -0.3753
+   ],
+   "split_deg": 0.0088,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.8182,
+   "gate_fail": [],
+   "held_out_px_after": 0.414,
+   "held_out_px_before": 3.178,
+   "inliers": 2306,
+   "position_fitted": true,
+   "position_mm": [
+    8.93,
+    -15.95,
+    8.9
+   ],
+   "position_sigma_mm": 0.485,
+   "position_split_mm": 1.985,
+   "rotvec_deg": [
+    -0.0007,
+    -0.4259,
+    -0.6986
+   ],
+   "split_deg": 0.06,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9794,
+   "gate_fail": [],
+   "held_out_px_after": 0.337,
+   "held_out_px_before": 5.655,
+   "inliers": 3662,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2603,
+    -0.2121,
+    -1.9507
+   ],
+   "split_deg": 0.0316,
+   "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": "b6b4bc31f97ab09090cd68e29a481a2c85fe39c9354bc42b264cc59b1d691110",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "e1f32271b0d64cfd3b91b3c9204243cd0b34867b51e4befdef83ff688b0fef96",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "dd8a54ad3ca92671a8fd5511745068e69a05f913b2fa2206fa7eea6c4d06b38e",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "7f3f6ce6b4eadf77d9f7adafcfad2210fdd411238fe1ca53bb0f6b75a8a3e1c3",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "933c620fdd2ec000",
+ "kind": "online_calibration",
+ "output_sha256": "4d341b79902578d02a3565263e2020715d15cf9cd80ec7964bdedf576cce3086",
+ "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": 30.078,
+  "left_eye": 27.019,
+  "left_front": 37.691,
+  "right": 31.679,
+  "right_eye": 26.208,
+  "right_front": 33.379
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   13095183107666,
+   13096183041000,
+   13097183107666,
+   13101183052111,
+   13102183063222,
+   13103183074333,
+   13105183085444,
+   13106183107666,
+   13109183129888,
+   13110183063222,
+   13112183041000,
+   13113183052111,
+   13116183196555,
+   13117183096555,
+   13120183063222,
+   13121183052111,
+   13123183041000,
+   13124183063222,
+   13126183063222,
+   13127183052111,
+   13129183074333,
+   13130183085444,
+   13134183052111,
+   13135183152111,
+   13136183118777,
+   13137183096555,
+   13138183096555,
+   13139183052111,
+   13143183107666,
+   13144183052111,
+   13145183118777,
+   13146183041000,
+   13148183107666,
+   13149183063222,
+   13153183052111,
+   13154183074333,
+   13155183063222,
+   13156183052111,
+   13158183052111,
+   13159183096555,
+   13162183052111,
+   13163183052111,
+   13166183041000,
+   13167183074333,
+   13168183052111,
+   13172183052111,
+   13173183085444,
+   13176183052111,
+   13177183041000,
+   13178183063222,
+   13180183041000,
+   13181183052111,
+   13185183063222,
+   13186183041000,
+   13187183074333
+  ]
+ },
+ "version": 1
+}

actions/locomotion_primitives/P10/session_015/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7425c6d709e12480dfa35dcdac603a392f4b7206da013189495774f4ce7bbb32
+size 593285

actions/locomotion_primitives/P10/session_015/meta.json

@@ -340,8 +340,8 @@
   "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": {
@@ -543,10 +543,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.0671564749144964
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 41.89,
+    "offset_rotvec": [
+     0.6217,
+     -0.3761,
+     -0.0813
+    ],
+    "dev_deg": {
+     "median": 13.08,
+     "p90": 27.5
+    },
+    "samples": 1954,
+    "accepted": 1794,
+    "wrist_pos_err_mm_median": 94.4,
+    "per_camera": {
+     "head": {
+      "samples": 1954,
+      "accepted": 1794,
+      "gate_deg": 30.0,
+      "offset_deg": 41.89,
+      "tier": "primary",
+      "dev_deg_median": 13.08,
+      "wrist_pos_err_mm_median": 94.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 7478,
+     "interpolated": 4342,
+     "mean_hand": 664,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9468,
+    "observed_fraction_of_valid": 0.9468,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 43.2,
+     "smplx": 0.56
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.3,
+      "p90": 6.6
+     },
+     "registered": {
+      "median": 6.4,
+      "p90": 9.6
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 41.18,
+    "offset_rotvec": [
+     0.5769,
+     0.3692,
+     0.2178
+    ],
+    "dev_deg": {
+     "median": 16.84,
+     "p90": 34.56
+    },
+    "samples": 1815,
+    "accepted": 1507,
+    "wrist_pos_err_mm_median": 84.6,
+    "per_camera": {
+     "head": {
+      "samples": 1815,
+      "accepted": 1507,
+      "gate_deg": 30.0,
+      "offset_deg": 41.18,
+      "tier": "primary",
+      "dev_deg_median": 16.84,
+      "wrist_pos_err_mm_median": 84.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 6268,
+     "interpolated": 4864,
+     "mean_hand": 1352,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.8917,
+    "observed_fraction_of_valid": 0.8917,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 38.89,
+     "smplx": 0.65
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.0,
+      "p90": 6.6
+     },
+     "registered": {
+      "median": 7.9,
+      "p90": 10.8
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:38:13.169018+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/locomotion_primitives/P10/session_015",
   "family": "locomotion_primitives",
   "primitive": "P10",
   "source_session": "20260923/P10/20260923_071317_session52"
+ },
+ "task": {
+  "primitive": "P10",
+  "instruction": "Walk straight; turn 90\u00b0 left/right while continuing to walk; continue."
  }
 }

actions/locomotion_primitives/P10/session_015/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f5ad5b7c4151f1cabb7bb3625de05c602d8c6f2852a752e82f560ec73823901
+size 2635114

actions/locomotion_primitives/P10/session_015/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2813bbea13bc7a6500721a684a4188b4ca34792ee988e273aa7546996da13383
-size 4794297
+oid sha256:becc0b83cf3e00d3f358261712fe9663768737fd2e906cf264c0a4cc9bf791e1
+size 8750728

actions/locomotion_primitives/P10/session_016/annotations.json

@@ -0,0 +1,171 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 2)",
+ "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": "P10",
+ "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 168.966544,
+   "video": "left_eye",
+   "video_t_start": 0.03890912385269307
+  }
+ ],
+ "episodes": [
+  {
+   "id": "5e76e99c-794b-456f-9718-95955f2253c0",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 1.295,
+   "end_s": 7.773,
+   "t_start": 1.3339,
+   "t_end": 7.8119,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "f44a7a11-c624-4649-a3eb-019f48d1cd36",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 11.109,
+   "end_s": 17.604,
+   "t_start": 11.1479,
+   "t_end": 17.6429,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "fce915b1-4143-4191-ad69-a6b1b655a76f",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 21.082,
+   "end_s": 28.515,
+   "t_start": 21.1209,
+   "t_end": 28.5539,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "7e39f00c-1c83-46e6-bc5d-b9f2cf1f9060",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 32.281,
+   "end_s": 40.279,
+   "t_start": 32.3199,
+   "t_end": 40.3179,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "da85abc3-060b-4914-94a0-0f18f8f1d535",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 43.628,
+   "end_s": 50.371,
+   "t_start": 43.6669,
+   "t_end": 50.4099,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "dc0e9101-885f-4055-9f0c-5a07e2f42987",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 55.161,
+   "end_s": 62.815,
+   "t_start": 55.1999,
+   "t_end": 62.8539,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "a589287b-4e12-4cfd-a4ce-4cefc3915077",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 65.598,
+   "end_s": 74.196,
+   "t_start": 65.6369,
+   "t_end": 74.2349,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "8ff01c89-1db3-4796-9a72-1ca8876de5d4",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 77.773,
+   "end_s": 85.884,
+   "t_start": 77.8119,
+   "t_end": 85.9229,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "d2101600-a224-4ca6-9afc-94ca6b072f9f",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 88.611,
+   "end_s": 96.44,
+   "t_start": 88.6499,
+   "t_end": 96.4789,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "0214210b-dc8a-4d1f-9bc1-9b341f8687ee",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 99.807,
+   "end_s": 106.741,
+   "t_start": 99.8459,
+   "t_end": 106.7799,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "ce300c05-d479-441d-bf3d-16ce088fa082",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 111.406,
+   "end_s": 120.157,
+   "t_start": 111.4449,
+   "t_end": 120.1959,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "b3217cd5-3504-4cb4-9313-951996ffa1ef",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 123.827,
+   "end_s": 130.633,
+   "t_start": 123.8659,
+   "t_end": 130.6719,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "3c3e3971-3862-4a4b-b74e-5c9212b335aa",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 135.232,
+   "end_s": 144.544,
+   "t_start": 135.2709,
+   "t_end": 144.5829,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "69a60123-3758-40d5-bf39-bc4111d78bc8",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 147.966,
+   "end_s": 159.149,
+   "t_start": 148.0049,
+   "t_end": 159.1879,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  }
+ ]
+}

actions/locomotion_primitives/P10/session_016/cameras/gsi_online_calibration.json

@@ -0,0 +1,259 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.355
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.0609,
+   "gate_fail": [],
+   "held_out_px_after": 0.516,
+   "held_out_px_before": 5.574,
+   "inliers": 1823,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.4391,
+    -0.4568,
+    -0.8509
+   ],
+   "split_deg": 0.0645,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.3495,
+   "gate_fail": [],
+   "held_out_px_after": 0.371,
+   "held_out_px_before": 5.84,
+   "inliers": 3665,
+   "position_fitted": true,
+   "position_mm": [
+    -0.26,
+    -7.5,
+    11.52
+   ],
+   "position_sigma_mm": 0.438,
+   "position_split_mm": 0.755,
+   "rotvec_deg": [
+    -0.1227,
+    0.8898,
+    -2.171
+   ],
+   "split_deg": 0.0362,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 1.2317,
+   "gate_fail": [],
+   "held_out_px_after": 0.486,
+   "held_out_px_before": 5.449,
+   "inliers": 1983,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.0801,
+    -0.3105,
+    -0.5041
+   ],
+   "split_deg": 0.0416,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.93,
+   "gate_fail": [],
+   "held_out_px_after": 0.346,
+   "held_out_px_before": 2.892,
+   "inliers": 3763,
+   "position_fitted": true,
+   "position_mm": [
+    11.16,
+    -13.43,
+    7.81
+   ],
+   "position_sigma_mm": 0.418,
+   "position_split_mm": 1.721,
+   "rotvec_deg": [
+    0.0416,
+    -0.3088,
+    -0.8762
+   ],
+   "split_deg": 0.0397,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.0731,
+   "gate_fail": [],
+   "held_out_px_after": 0.332,
+   "held_out_px_before": 5.648,
+   "inliers": 4986,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3205,
+    -0.0643,
+    -2.0471
+   ],
+   "split_deg": 0.0114,
+   "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": "61cd7fc4c72659b7d849c7ca40220a5757025433b63eb252d7e2d19f50e390c9",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "af699c5dcdac7414555cc982c63fcc89a970e4d9ac2f8a5cb939d27682f0b84d",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "8958194acef6403979260f68a3722fac5e92837a9ad75d9ea7c63946078edb1a",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "d9a71fce2f7303bbeb7436fb263b1ff27705d339301aea6899883648794fcacd",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "767e429515aed25f",
+ "kind": "online_calibration",
+ "output_sha256": "2f894fbdcc19df847e1c879e46a1d8a27fa9c01a15fe813204ddd8a36479c040",
+ "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": 31.891,
+  "left_eye": 28.204,
+  "left_front": 39.499,
+  "right": 33.081,
+  "right_eye": 27.08,
+  "right_front": 36.618
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   7699977097777,
+   7700977020000,
+   7707977153333,
+   7708977008888,
+   7709977075555,
+   7710977008888,
+   7716976997777,
+   7717977075555,
+   7722977086666,
+   7723977008888,
+   7727976997777,
+   7728977075555,
+   7731977053333,
+   7732977086666,
+   7740977031111,
+   7741976997777,
+   7745977075555,
+   7746977020000,
+   7751976997777,
+   7752977008888,
+   7757976997777,
+   7758977075555,
+   7762977142222,
+   7763977008888,
+   7767977153333,
+   7768976997777,
+   7773977008888,
+   7774977153333,
+   7779977153333,
+   7780977020000,
+   7785976997777,
+   7786976997777,
+   7791977031111,
+   7792977042222,
+   7795977008888,
+   7796977075555,
+   7802977064444,
+   7803977020000,
+   7806976997777,
+   7807977020000,
+   7813977153333,
+   7814977031111,
+   7815977153333,
+   7824977075555,
+   7825977020000,
+   7826977020000,
+   7830977086666,
+   7831976997777,
+   7839977031111,
+   7840976997777,
+   7844977020000,
+   7845977031111,
+   7849977020000,
+   7850976997777,
+   7856976997777,
+   7857977031111,
+   7858977142222,
+   7859977031111
+  ]
+ },
+ "version": 1
+}

actions/locomotion_primitives/P10/session_016/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da4d8892753ec380d70c77e95b43a3eae2b23e0d74e3ccec5c933e2caa114dc7
+size 972138

actions/locomotion_primitives/P10/session_016/meta.json

@@ -327,8 +327,8 @@
   "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": {
@@ -509,10 +509,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.1016153557455461
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 38.01,
+    "offset_rotvec": [
+     0.5195,
+     -0.4115,
+     -0.0298
+    ],
+    "dev_deg": {
+     "median": 15.54,
+     "p90": 31.16
+    },
+    "samples": 2785,
+    "accepted": 2474,
+    "wrist_pos_err_mm_median": 178.6,
+    "per_camera": {
+     "head": {
+      "samples": 2785,
+      "accepted": 2474,
+      "gate_deg": 30.0,
+      "offset_deg": 38.01,
+      "tier": "primary",
+      "dev_deg_median": 15.54,
+      "wrist_pos_err_mm_median": 178.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10361,
+     "interpolated": 8498,
+     "mean_hand": 1417,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9297,
+    "observed_fraction_of_valid": 0.9301,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 39.31,
+     "smplx": 0.53
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.6,
+      "p90": 6.5
+     },
+     "registered": {
+      "median": 4.9,
+      "p90": 9.7
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 15.13,
+    "offset_rotvec": [
+     0.2561,
+     0.035,
+     -0.054
+    ],
+    "dev_deg": {
+     "median": 15.12,
+     "p90": 29.05
+    },
+    "samples": 2117,
+    "accepted": 1928,
+    "wrist_pos_err_mm_median": 418.0,
+    "per_camera": {
+     "head": {
+      "samples": 2117,
+      "accepted": 1928,
+      "gate_deg": 30.0,
+      "offset_deg": 15.13,
+      "tier": "primary",
+      "dev_deg_median": 15.12,
+      "wrist_pos_err_mm_median": 418.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 8105,
+     "interpolated": 9602,
+     "mean_hand": 2569,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.873,
+    "observed_fraction_of_valid": 0.8733,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 18.67,
+     "smplx": 0.67
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.1,
+      "p90": 12.4
+     },
+     "registered": {
+      "median": 9.6,
+      "p90": 13.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:30:18.705045+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/locomotion_primitives/P10/session_016",
   "family": "locomotion_primitives",
   "primitive": "P10",
   "source_session": "20260928/P10/20260928_072424_session24"
+ },
+ "task": {
+  "primitive": "P10",
+  "instruction": "Walk straight; turn 90\u00b0 left/right while continuing to walk; continue."
  }
 }

actions/locomotion_primitives/P10/session_016/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bab9b01ca168325b9ab1fe08935ab0e909d3e8be86815c2862a620b37542d563
+size 3497846

actions/locomotion_primitives/P10/session_016/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:14fb308869155d5976e54c393f0d3fc956ffe07469f9013f9f6f95cb20079965
-size 7807050
+oid sha256:38e7ad4352e21c5d470d6dd02558c71a36d9ee380ab21d9da4d85fac51fc801d
+size 14135295

actions/locomotion_primitives/P10/session_017/annotations.json

@@ -0,0 +1,149 @@
+{
+ "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": "P10",
+ "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 108.966633,
+   "video": "left_eye",
+   "video_t_start": 0.03875721576533353
+  }
+ ],
+ "episodes": [
+  {
+   "id": "dc1f959e-b606-4655-8e07-7cb8928fa90a",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 1.133,
+   "end_s": 8.716,
+   "t_start": 1.1718,
+   "t_end": 8.7548,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "e94b80b1-c68d-47f9-a175-a2f9bf21a502",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 12.501,
+   "end_s": 18.546,
+   "t_start": 12.5398,
+   "t_end": 18.5848,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "3c0a4435-7b19-4485-8f25-7420414e9162",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 21.224,
+   "end_s": 28.648,
+   "t_start": 21.2628,
+   "t_end": 28.6868,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "5a6ad79d-ff78-4769-b18c-cfa2af990f50",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 31.569,
+   "end_s": 36.489,
+   "t_start": 31.6078,
+   "t_end": 36.5278,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "9a4ab163-1159-473d-bb7f-e74e0a08bec4",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 38.489,
+   "end_s": 45.182,
+   "t_start": 38.5278,
+   "t_end": 45.2208,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "bfcd2266-f632-438e-bc7e-b861c30c7175",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 47.35,
+   "end_s": 52.055,
+   "t_start": 47.3888,
+   "t_end": 52.0938,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "1a246912-9ad3-4dd5-a151-220d1eb178f3",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 54.055,
+   "end_s": 60.519,
+   "t_start": 54.0938,
+   "t_end": 60.5578,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "0f863c2a-c7cb-4544-8993-493234ab401f",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 62.551,
+   "end_s": 66.716,
+   "t_start": 62.5898,
+   "t_end": 66.7548,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "fe99632a-36e4-4f65-a899-d22c7fc64378",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 68.716,
+   "end_s": 75.169,
+   "t_start": 68.7548,
+   "t_end": 75.2078,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "9b194eef-063a-453e-99cd-7f881cf5483e",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 76.784,
+   "end_s": 82.328,
+   "t_start": 76.8228,
+   "t_end": 82.3668,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "ebf4d20c-bc1f-4a06-aef2-482fd465a535",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 83.328,
+   "end_s": 88.837,
+   "t_start": 83.3668,
+   "t_end": 88.8758,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "ec12ad45-3d16-4f40-8f6a-940fc82a0c2e",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 92.206,
+   "end_s": 97.523,
+   "t_start": 92.2448,
+   "t_end": 97.5618,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  }
+ ]
+}

actions/locomotion_primitives/P10/session_017/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e118fa7ed92e3695c5e1fa7c3db23f1aff2bd3fb69f193f8b96048e43fa73c2e
+size 626782

actions/locomotion_primitives/P10/session_017/meta.json

@@ -326,8 +326,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -506,10 +506,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.4447774659813375
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 62.42,
+    "offset_rotvec": [
+     0.9716,
+     -0.4926,
+     -0.0085
+    ],
+    "dev_deg": {
+     "median": 18.29,
+     "p90": 42.72
+    },
+    "samples": 2451,
+    "accepted": 1718,
+    "wrist_pos_err_mm_median": 168.0,
+    "per_camera": {
+     "head": {
+      "samples": 2451,
+      "accepted": 1718,
+      "gate_deg": 30.0,
+      "offset_deg": 62.42,
+      "tier": "primary",
+      "dev_deg_median": 18.29,
+      "wrist_pos_err_mm_median": 168.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 7188,
+     "interpolated": 5336,
+     "mean_hand": 363,
+     "no_body_fit": 197
+    },
+    "observed_fraction": 0.9572,
+    "observed_fraction_of_valid": 0.9718,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 54.6,
+     "smplx": 0.57
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 4.8,
+      "p90": 5.4
+     },
+     "registered": {
+      "median": 5.0,
+      "p90": 6.2
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 32.79,
+    "offset_rotvec": [
+     0.4759,
+     0.3075,
+     0.0804
+    ],
+    "dev_deg": {
+     "median": 21.24,
+     "p90": 37.34
+    },
+    "samples": 2282,
+    "accepted": 1643,
+    "wrist_pos_err_mm_median": 120.9,
+    "per_camera": {
+     "head": {
+      "samples": 2282,
+      "accepted": 1643,
+      "gate_deg": 30.0,
+      "offset_deg": 32.79,
+      "tier": "primary",
+      "dev_deg_median": 21.24,
+      "wrist_pos_err_mm_median": 120.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 6870,
+     "interpolated": 5254,
+     "mean_hand": 763,
+     "no_body_fit": 197
+    },
+    "observed_fraction": 0.9266,
+    "observed_fraction_of_valid": 0.9408,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 31.83,
+     "smplx": 0.43
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.8,
+      "p90": 8.4
+     },
+     "registered": {
+      "median": 6.7,
+      "p90": 9.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:26:16.296079+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/locomotion_primitives/P10/session_017",
   "family": "locomotion_primitives",
   "primitive": "P10",
   "source_session": "20260929/P10/20260929_065454_session119"
+ },
+ "task": {
+  "primitive": "P10",
+  "instruction": "Walk straight; turn 90\u00b0 left/right while continuing to walk; continue."
  }
 }

actions/locomotion_primitives/P10/session_017/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ab19c68735977582261dada6211e5bd4e55db6442d09594a80c4b41f795fa70
+size 3321785

actions/locomotion_primitives/P10/session_017/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:9e2b3607a38233f8b88105b713384b01852a862c8c9aaf40df1d01fcb5e8e7dc
-size 4952052
+oid sha256:f4ea0b4bc551e3d88d160bcb83a22c794e06de12a34872deb7099af4629d20b1
+size 9139785

actions/locomotion_primitives/P10/session_018/annotations.json

@@ -0,0 +1,149 @@
+{
+ "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": "P10",
+ "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 151.100022,
+   "video": "left_eye",
+   "video_t_start": 0.039729006559621596
+  }
+ ],
+ "episodes": [
+  {
+   "id": "8df82475-ca8d-4b2e-a6ba-6d058edac702",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 1.496,
+   "end_s": 10.168,
+   "t_start": 1.5357,
+   "t_end": 10.2077,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "d6199890-9019-4092-bc53-599cc56e3f11",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 13.168,
+   "end_s": 21.736,
+   "t_start": 13.2077,
+   "t_end": 21.7757,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "ad485901-fde3-4db1-a29c-2d57e186f3cf",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 25.649,
+   "end_s": 35.056,
+   "t_start": 25.6887,
+   "t_end": 35.0957,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "4ab6a4e1-936d-46b9-a44e-4f6d0155a557",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 38.056,
+   "end_s": 46.48,
+   "t_start": 38.0957,
+   "t_end": 46.5197,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "8ebb3ac9-9936-478f-b301-3e02069f3ce3",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 50.48,
+   "end_s": 59.168,
+   "t_start": 50.5197,
+   "t_end": 59.2077,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "d9257f3e-a792-44f6-9ee1-5a8a08f02f48",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 62.447,
+   "end_s": 70.991,
+   "t_start": 62.4867,
+   "t_end": 71.0307,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "30a3e4b2-19fe-45d8-a397-5cd4fa46d856",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 74.991,
+   "end_s": 83.655,
+   "t_start": 75.0307,
+   "t_end": 83.6947,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "dcee5eae-4f67-4c45-a70f-f2e6db688bd5",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 87.655,
+   "end_s": 95.927,
+   "t_start": 87.6947,
+   "t_end": 95.9667,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "108bf936-5bd0-4f67-9eb0-8a4298d63755",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 99.927,
+   "end_s": 106.999,
+   "t_start": 99.9667,
+   "t_end": 107.0387,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "a9e7cc34-6178-4c82-b85d-1349ee0738c7",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 110.999,
+   "end_s": 119.775,
+   "t_start": 111.0387,
+   "t_end": 119.8147,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "d7cad2de-cfa4-4caa-88ae-6b87bf203177",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 122.775,
+   "end_s": 130.086,
+   "t_start": 122.8147,
+   "t_end": 130.1257,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  },
+  {
+   "id": "51015946-a872-4c9f-9be6-b317d60394f5",
+   "segment": "segment1",
+   "action": "P10",
+   "quality": "valid",
+   "start_s": 134.086,
+   "end_s": 142.134,
+   "t_start": 134.1257,
+   "t_end": 142.1737,
+   "instruction": "Walk straight; turn 90° left/right while continuing to walk; continue."
+  }
+ ]
+}

actions/locomotion_primitives/P10/session_018/cameras/gsi_online_calibration.json

@@ -0,0 +1,208 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.394
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.4272,
+   "gate_fail": [],
+   "held_out_px_after": 0.452,
+   "held_out_px_before": 17.724,
+   "inliers": 736,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.3248,
+    -0.2365,
+    -0.4751
+   ],
+   "split_deg": 0.0411,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.4459,
+   "gate_fail": [],
+   "held_out_px_after": 0.717,
+   "held_out_px_before": 8.002,
+   "inliers": 1016,
+   "position_fitted": true,
+   "position_mm": [
+    2.21,
+    -31.6,
+    -9.89
+   ],
+   "position_sigma_mm": 0.544,
+   "position_split_mm": 4.781,
+   "rotvec_deg": [
+    1.7332,
+    -0.6928,
+    1.5807
+   ],
+   "split_deg": 0.164,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 2.8658,
+   "gate_fail": [],
+   "held_out_px_after": 0.608,
+   "held_out_px_before": 5.397,
+   "inliers": 598,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.2677,
+    -1.18,
+    2.2833
+   ],
+   "split_deg": 0.4231,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 3.1102,
+   "gate_fail": [],
+   "held_out_px_after": 0.415,
+   "held_out_px_before": 6.138,
+   "inliers": 1261,
+   "position_fitted": true,
+   "position_mm": [
+    2.19,
+    -21.45,
+    -0.38
+   ],
+   "position_sigma_mm": 0.453,
+   "position_split_mm": 2.129,
+   "rotvec_deg": [
+    1.8057,
+    -1.1852,
+    2.2378
+   ],
+   "split_deg": 0.0418,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.3758,
+   "gate_fail": [],
+   "held_out_px_after": 0.336,
+   "held_out_px_before": 1.572,
+   "inliers": 1830,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2835,
+    -0.2432,
+    0.041
+   ],
+   "split_deg": 0.0446,
+   "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": "63d3fcc24fd0f2f5bff2e1f674df35439e6722059661e0eea5c9db3df38ba1eb",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "4b292507e8ddaf283bc43ee11d18b174c322a5d20152f29dcf6e1296f9673fe8",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "9e902b94c9a4cd95fe5e8ccce13a57b585932184c016e6e2a3b1d9e4713dd32a",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "2b4538493d97ffa0200660265df3ef117695b5e7de27c7aa52ce3162b643be4d",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "7c0a3e9d1eca7cc3",
+ "kind": "online_calibration",
+ "output_sha256": "d1c71f6b8626d542963f1f0f7bbb756132e33c73424726ccddf603f2029e06c0",
+ "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": 39.105,
+  "left_eye": 37.018,
+  "left_front": 43.384,
+  "right": 39.85,
+  "right_eye": 36.601,
+  "right_front": 41.123
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   5410112449555,
+   5411112394000,
+   5412112416222,
+   5535112471777,
+   5537112416222,
+   5538112416222,
+   5539112394000,
+   5540112416222,
+   5541112416222
+  ]
+ },
+ "version": 1
+}

actions/locomotion_primitives/P10/session_018/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6dfdbeabafe592df0f5ad4c80a50e039cc6713c6c59d80c27c8c6d27bc4a503a
+size 869666

actions/locomotion_primitives/P10/session_018/meta.json

@@ -389,8 +389,8 @@
   "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 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 23.48,
+    "offset_rotvec": [
+     0.3568,
+     -0.1097,
+     0.1693
+    ],
+    "dev_deg": {
+     "median": 15.21,
+     "p90": 25.61
+    },
+    "samples": 3406,
+    "accepted": 3288,
+    "wrist_pos_err_mm_median": 64.9,
+    "per_camera": {
+     "head": {
+      "samples": 3406,
+      "accepted": 3288,
+      "gate_deg": 30.0,
+      "offset_deg": 23.48,
+      "tier": "primary",
+      "dev_deg_median": 15.21,
+      "wrist_pos_err_mm_median": 64.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13465,
+     "interpolated": 4474,
+     "mean_hand": 193,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9889,
+    "observed_fraction_of_valid": 0.9894,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 25.4,
+     "smplx": 0.59
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.0,
+      "p90": 8.0
+     },
+     "registered": {
+      "median": 8.7,
+      "p90": 10.3
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 15.23,
+    "offset_rotvec": [
+     0.2159,
+     -0.0872,
+     0.1284
+    ],
+    "dev_deg": {
+     "median": 20.74,
+     "p90": 39.18
+    },
+    "samples": 3539,
+    "accepted": 2866,
+    "wrist_pos_err_mm_median": 74.7,
+    "per_camera": {
+     "head": {
+      "samples": 3539,
+      "accepted": 2866,
+      "gate_deg": 30.0,
+      "offset_deg": 15.23,
+      "tier": "primary",
+      "dev_deg_median": 20.74,
+      "wrist_pos_err_mm_median": 74.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11735,
+     "interpolated": 4508,
+     "mean_hand": 1889,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.8954,
+    "observed_fraction_of_valid": 0.8958,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 20.56,
+     "smplx": 2.79
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.9,
+      "p90": 17.3
+     },
+     "registered": {
+      "median": 8.8,
+      "p90": 16.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:47:13.296285+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/locomotion_primitives/P10/session_018",
   "family": "locomotion_primitives",
   "primitive": "P10",
   "source_session": "20261016/P10/20261016_020457_session40"
+ },
+ "task": {
+  "primitive": "P10",
+  "instruction": "Walk straight; turn 90\u00b0 left/right while continuing to walk; continue."
  }
 }

actions/locomotion_primitives/P10/session_018/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d5a845305cc6b18c1c176b6c481d9efc224570299094bf7a794c627dbba6b3c
+size 4743038

actions/locomotion_primitives/P10/session_018/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:35fd860bb140d8424bd45d131096d73b92eb48de65c6eefc6abe5a84db96a24a
-size 6949922
+oid sha256:37ab3409322e0046c7b343d046f30414e18add992b5c86ff3da4e0e7e986e86a
+size 12811699

actions/locomotion_primitives/P11/session_001/annotations.json

@@ -0,0 +1,127 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 1, 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": "P11",
+ "instruction": "Walk straight; turn around and walk back; use wide or tight turn.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 143.966511,
+   "video": "left_eye",
+   "video_t_start": 0.038371277695167016
+  }
+ ],
+ "episodes": [
+  {
+   "id": "9f5f3a02-9c2c-4ba3-afd5-f0f47c01c843",
+   "segment": "segment1",
+   "action": "P11",
+   "quality": "valid",
+   "start_s": 1.637,
+   "end_s": 13.787,
+   "t_start": 1.6754,
+   "t_end": 13.8254,
+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
+  },
+  {
+   "id": "9d5f5abe-ef56-442b-aa93-16d25ca088fa",
+   "segment": "segment1",
+   "action": "P11",
+   "quality": "valid",
+   "start_s": 16.219,
+   "end_s": 25.855,
+   "t_start": 16.2574,
+   "t_end": 25.8934,
+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
+  },
+  {
+   "id": "bb23b117-6f1e-49b7-82b5-6e8570c4607b",
+   "segment": "segment1",
+   "action": "P11",
+   "quality": "valid",
+   "start_s": 29.086,
+   "end_s": 39.267,
+   "t_start": 29.1244,
+   "t_end": 39.3054,
+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
+  },
+  {
+   "id": "58488939-8a79-463b-be6a-7dda9215b969",
+   "segment": "segment1",
+   "action": "P11",
+   "quality": "valid",
+   "start_s": 42.374,
+   "end_s": 51.687,
+   "t_start": 42.4124,
+   "t_end": 51.7254,
+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
+  },
+  {
+   "id": "b68cf4c1-a658-43f9-b28b-4584ba5726c1",
+   "segment": "segment1",
+   "action": "P11",
+   "quality": "valid",
+   "start_s": 56.153,
+   "end_s": 64.876,
+   "t_start": 56.1914,
+   "t_end": 64.9144,
+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
+  },
+  {
+   "id": "d316f21f-5bbf-463c-a84d-9e09ec50419a",
+   "segment": "segment1",
+   "action": "P11",
+   "quality": "valid",
+   "start_s": 69.235,
+   "end_s": 78.944,
+   "t_start": 69.2734,
+   "t_end": 78.9824,
+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
+  },
+  {
+   "id": "f477f034-2360-4673-bb17-deed20797852",
+   "segment": "segment1",
+   "action": "P11",
+   "quality": "valid",
+   "start_s": 83.377,
+   "end_s": 92.619,
+   "t_start": 83.4154,
+   "t_end": 92.6574,
+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
+  },
+  {
+   "id": "7770d9c3-76dd-4c24-9fe0-35c6517d5ee3",
+   "segment": "segment1",
+   "action": "P11",
+   "quality": "valid",
+   "start_s": 96.944,
+   "end_s": 105.962,
+   "t_start": 96.9824,
+   "t_end": 106.0004,
+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
+  },
+  {
+   "id": "b640f896-4547-4523-a632-ff5d821f04d8",
+   "segment": "segment1",
+   "action": "P11",
+   "quality": "valid",
+   "start_s": 110.51,
+   "end_s": 119.96,
+   "t_start": 110.5484,
+   "t_end": 119.9984,
+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
+  },
+  {
+   "id": "874cccc8-8604-44e3-b83b-0f007f12fe94",
+   "segment": "segment1",
+   "action": "P11",
+   "quality": "valid",
+   "start_s": 123.36,
+   "end_s": 132.961,
+   "t_start": 123.3984,
+   "t_end": 132.9994,
+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
+  }
+ ]
+}

actions/locomotion_primitives/P11/session_001/cameras/gsi_online_calibration.json

@@ -0,0 +1,264 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 123,
+    "median_px": 16.18,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.355
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.8951,
+   "gate_fail": [],
+   "held_out_px_after": 0.472,
+   "held_out_px_before": 7.337,
+   "inliers": 1635,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.0201,
+    0.7786,
+    0.4411
+   ],
+   "split_deg": 0.0449,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.1119,
+   "gate_fail": [],
+   "held_out_px_after": 0.349,
+   "held_out_px_before": 2.037,
+   "inliers": 2095,
+   "position_fitted": true,
+   "position_mm": [
+    -11.42,
+    9.06,
+    10.63
+   ],
+   "position_sigma_mm": 0.424,
+   "position_split_mm": 4.406,
+   "rotvec_deg": [
+    0.1779,
+    0.7352,
+    -0.8149
+   ],
+   "split_deg": 0.0622,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.373,
+   "gate_fail": [],
+   "held_out_px_after": 0.443,
+   "held_out_px_before": 1.979,
+   "inliers": 1202,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.3268,
+    -0.1413,
+    -0.1109
+   ],
+   "split_deg": 0.1722,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.8259,
+   "gate_fail": [],
+   "held_out_px_after": 0.351,
+   "held_out_px_before": 1.886,
+   "inliers": 2650,
+   "position_fitted": true,
+   "position_mm": [
+    -16.57,
+    8.5,
+    9.03
+   ],
+   "position_sigma_mm": 0.461,
+   "position_split_mm": 5.494,
+   "rotvec_deg": [
+    0.2727,
+    0.3764,
+    -0.6827
+   ],
+   "split_deg": 0.1357,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9201,
+   "gate_fail": [],
+   "held_out_px_after": 0.332,
+   "held_out_px_before": 9.366,
+   "inliers": 2643,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3262,
+    0.5464,
+    -1.8116
+   ],
+   "split_deg": 0.0158,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "a5da3d5b2b0cf7bf2a6f3f6e3879ece1576d352cbbb8889d195534ce1271ccc4",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "47e2dd207e3264dd62995916c95bc19bacfacb09c901d62380306235b78d759c",
+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "5879f4dd584b0d4d5f2904734ceda49a449b73f34550b9e00cb899aba7acd845",
+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "5574d4fb39dc1cf09249a071fb59322a6b83e85fe69bea774fff8079f6f90e91",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "55cf0015c5c09acc",
+ "kind": "online_calibration",
+ "output_sha256": "2855cf84a1cd97d2bc6c4fea15b77031dbe02a97dd9b3959f4c5c2d4657a93d5",
+ "overlap": {
+  "left-right": 0.487,
+  "left_eye-left": 0.707,
+  "left_eye-right": 0.685,
+  "left_front-left": 0.484,
+  "left_front-left_eye": 0.709,
+  "left_front-right": 0.464,
+  "left_front-right_eye": 0.711,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.708,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.668,
+  "right_front-left": 0.482,
+  "right_front-left_eye": 0.711,
+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
+ "picture_change": {
+  "left": 41.547,
+  "left_eye": 43.706,
+  "left_front": 48.91,
+  "right": 44.601,
+  "right_eye": 43.194,
+  "right_front": 50.973
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   2042632817555,
+   2043632806444,
+   2050632806444,
+   2051632795333,
+   2054632784222,
+   2055632806444,
+   2058632806444,
+   2059632795333,
+   2065632806444,
+   2066632806444,
+   2067632817555,
+   2068632806444,
+   2073632806444,
+   2074632817555,
+   2076632806444,
+   2077632806444,
+   2080632817555,
+   2081632806444,
+   2088632806444,
+   2089632795333,
+   2092632817555,
+   2093632806444,
+   2094632862000,
+   2101632806444,
+   2102632806444,
+   2106632817555,
+   2107632806444,
+   2108632806444,
+   2111632817555,
+   2112632817555,
+   2120632806444,
+   2121632806444,
+   2122632806444,
+   2125632806444,
+   2126632806444,
+   2133632817555,
+   2134632917555,
+   2135632806444,
+   2139632806444,
+   2140632806444,
+   2147632806444,
+   2148632817555,
+   2151632817555,
+   2152632817555,
+   2153632806444,
+   2154632828666,
+   2160632806444,
+   2161632806444,
+   2165632806444,
+   2166632806444,
+   2170632817555,
+   2171632817555,
+   2174632817555,
+   2175632806444,
+   2176632806444,
+   2177632806444
+  ]
+ },
+ "version": 1
+}

actions/locomotion_primitives/P11/session_001/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:802d02b7dca106f40aaf9492b861562f4aa9547329dc8273d7013f2abf299fbe
+size 824196

actions/locomotion_primitives/P11/session_001/meta.json

@@ -332,8 +332,8 @@
   "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": {
@@ -518,10 +518,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 17.75,
+    "offset_rotvec": [
+     -0.0869,
+     -0.2853,
+     -0.0835
+    ],
+    "dev_deg": {
+     "median": 8.19,
+     "p90": 19.07
+    },
+    "samples": 4043,
+    "accepted": 3922,
+    "wrist_pos_err_mm_median": 49.5,
+    "per_camera": {
+     "head": {
+      "samples": 4043,
+      "accepted": 3922,
+      "gate_deg": 30.0,
+      "offset_deg": 17.75,
+      "tier": "primary",
+      "dev_deg_median": 8.19,
+      "wrist_pos_err_mm_median": 49.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15860,
+     "interpolated": 1412,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9993,
+    "observed_fraction_of_valid": 0.9993,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 14.18,
+     "smplx": 0.54
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.9,
+      "p90": 8.3
+     },
+     "registered": {
+      "median": 8.0,
+      "p90": 8.8
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 11.3,
+    "offset_rotvec": [
+     -0.1234,
+     -0.0794,
+     0.1318
+    ],
+    "dev_deg": {
+     "median": 5.65,
+     "p90": 22.24
+    },
+    "samples": 4069,
+    "accepted": 3846,
+    "wrist_pos_err_mm_median": 55.9,
+    "per_camera": {
+     "head": {
+      "samples": 4069,
+      "accepted": 3846,
+      "gate_deg": 30.0,
+      "offset_deg": 11.3,
+      "tier": "primary",
+      "dev_deg_median": 5.65,
+      "wrist_pos_err_mm_median": 55.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15542,
+     "interpolated": 1730,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9993,
+    "observed_fraction_of_valid": 0.9993,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 9.88,
+     "smplx": 0.98
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.3,
+      "p90": 7.9
+     },
+     "registered": {
+      "median": 7.6,
+      "p90": 8.5
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:27:41.330434+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/locomotion_primitives/P11/session_001",
   "family": "locomotion_primitives",
   "primitive": "P11",
   "source_session": "20260828/P11/20260828_060739_session13"
+ },
+ "task": {
+  "primitive": "P11",
+  "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
  }
 }

actions/locomotion_primitives/P11/session_001/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c80342c1df07727c927749ef0e954cbbc8aeca035e988a7e3191f6f9d7baab8f
+size 5473886

actions/locomotion_primitives/P11/session_001/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b8e6e1048bcc1ae74f30a146d8456c6d2359cd0902e738a867321d5ea8e81ed5
-size 6608055
+oid sha256:af4bf837ae3204481b1e816558d5b537ee4b4a5b8770af784ff3633c482c0876
+size 12424018

actions/locomotion_primitives/P11/session_002/annotations.json

@@ -0,0 +1,127 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 1, 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": "P11",
+ "instruction": "Walk straight; turn around and walk back; use wide or tight turn.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 138.966533,
+   "video": "left_eye",
+   "video_t_start": 0.038140227981254604
+  }
+ ],
+ "episodes": [
+  {
+   "id": "f1ae5592-c99a-420f-b808-41a5beefe2f2",
+   "segment": "segment1",
+   "action": "P11",
+   "quality": "valid",
+   "start_s": 0.779,
+   "end_s": 10.684,
+   "t_start": 0.8171,
+   "t_end": 10.7221,
+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
+  },
+  {
+   "id": "bf2a3a66-72e2-49ec-90c5-241df6064886",
+   "segment": "segment1",
+   "action": "P11",
+   "quality": "valid",
+   "start_s": 12.73,
+   "end_s": 21.611,
+   "t_start": 12.7681,
+   "t_end": 21.6491,
+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
+  },
+  {
+   "id": "3156e3c6-dacf-4930-9808-7127808ff539",
+   "segment": "segment1",
+   "action": "P11",
+   "quality": "valid",
+   "start_s": 24.489,
+   "end_s": 34.457,
+   "t_start": 24.5271,
+   "t_end": 34.4951,
+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
+  },
+  {
+   "id": "3d6dc42b-8632-47ec-8411-1477c8641865",
+   "segment": "segment1",
+   "action": "P11",
+   "quality": "valid",
+   "start_s": 37.184,
+   "end_s": 46.743,
+   "t_start": 37.2221,
+   "t_end": 46.7811,
+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
+  },
+  {
+   "id": "41df3251-4c56-4f88-942b-fe85f97e5cee",
+   "segment": "segment1",
+   "action": "P11",
+   "quality": "valid",
+   "start_s": 50.185,
+   "end_s": 59.92,
+   "t_start": 50.2231,
+   "t_end": 59.9581,
+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
+  },
+  {
+   "id": "04e8295d-f8a1-4577-badf-df2591543b2a",
+   "segment": "segment1",
+   "action": "P11",
+   "quality": "valid",
+   "start_s": 64.592,
+   "end_s": 74.657,
+   "t_start": 64.6301,
+   "t_end": 74.6951,
+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
+  },
+  {
+   "id": "88fc08af-cc59-4b26-adb2-6b49dc1baba5",
+   "segment": "segment1",
+   "action": "P11",
+   "quality": "valid",
+   "start_s": 79.531,
+   "end_s": 89.198,
+   "t_start": 79.5691,
+   "t_end": 89.2361,
+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
+  },
+  {
+   "id": "5e9d37f1-a998-4f6d-af53-bf3f606b9ce5",
+   "segment": "segment1",
+   "action": "P11",
+   "quality": "valid",
+   "start_s": 93.484,
+   "end_s": 102.55,
+   "t_start": 93.5221,
+   "t_end": 102.5881,
+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
+  },
+  {
+   "id": "0182dea8-617f-41db-b0d3-4bce82780b2f",
+   "segment": "segment1",
+   "action": "P11",
+   "quality": "valid",
+   "start_s": 105.764,
+   "end_s": 115.417,
+   "t_start": 105.8021,
+   "t_end": 115.4551,
+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
+  },
+  {
+   "id": "e2304ddf-cdfa-468b-9b6d-eb3db1f88bed",
+   "segment": "segment1",
+   "action": "P11",
+   "quality": "valid",
+   "start_s": 119.616,
+   "end_s": 129.246,
+   "t_start": 119.6541,
+   "t_end": 129.2841,
+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
+  }
+ ]
+}

actions/locomotion_primitives/P11/session_002/cameras/gsi_online_calibration.json

@@ -0,0 +1,266 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 153,
+    "median_px": 31.93,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.356
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.8414,
+   "gate_fail": [],
+   "held_out_px_after": 0.502,
+   "held_out_px_before": 6.059,
+   "inliers": 1566,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.0251,
+    0.7422,
+    0.3955
+   ],
+   "split_deg": 0.1028,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0798,
+   "gate_fail": [],
+   "held_out_px_after": 0.392,
+   "held_out_px_before": 2.07,
+   "inliers": 2073,
+   "position_fitted": true,
+   "position_mm": [
+    -9.91,
+    6.06,
+    10.67
+   ],
+   "position_sigma_mm": 0.345,
+   "position_split_mm": 5.56,
+   "rotvec_deg": [
+    0.078,
+    0.7171,
+    -0.8035
+   ],
+   "split_deg": 0.1818,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.3833,
+   "gate_fail": [],
+   "held_out_px_after": 0.586,
+   "held_out_px_before": 2.034,
+   "inliers": 1398,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.3545,
+    -0.096,
+    -0.1096
+   ],
+   "split_deg": 0.0846,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.7542,
+   "gate_fail": [],
+   "held_out_px_after": 0.409,
+   "held_out_px_before": 2.056,
+   "inliers": 2539,
+   "position_fitted": true,
+   "position_mm": [
+    -8.97,
+    6.66,
+    9.11
+   ],
+   "position_sigma_mm": 0.363,
+   "position_split_mm": 4.779,
+   "rotvec_deg": [
+    0.1845,
+    0.3397,
+    -0.6476
+   ],
+   "split_deg": 0.1586,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9372,
+   "gate_fail": [],
+   "held_out_px_after": 0.294,
+   "held_out_px_before": 7.522,
+   "inliers": 4252,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3375,
+    0.5548,
+    -1.8251
+   ],
+   "split_deg": 0.0064,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "1f53094fc722fa107cf0fdb7bc0bc090e15ac94212a0be8985867996fd6482cc",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "c84937a42a69a7e46254c24a93c433b852a222264efdf0e4a5e0057c9f434daa",
+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "d46b0c1321869e937a995f81bcf7b876fe82161d9576a9c730b58bcee12d457a",
+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "11f3207f2a5fc1f569b7e94fd83089eae64ba7866452aec227396e5f241f0daf",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "3a42d8dda526a87a",
+ "kind": "online_calibration",
+ "output_sha256": "1a50d3355c5c873a469edaf9091e2e2f033003ae3b6bfedb45171b26265e8863",
+ "overlap": {
+  "left-right": 0.487,
+  "left_eye-left": 0.707,
+  "left_eye-right": 0.685,
+  "left_front-left": 0.484,
+  "left_front-left_eye": 0.709,
+  "left_front-right": 0.464,
+  "left_front-right_eye": 0.711,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.708,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.668,
+  "right_front-left": 0.482,
+  "right_front-left_eye": 0.711,
+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
+ "picture_change": {
+  "left": 43.594,
+  "left_eye": 41.25,
+  "left_front": 49.004,
+  "right": 44.709,
+  "right_eye": 42.194,
+  "right_front": 50.07
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   2200752634777,
+   2201752612555,
+   2208752623666,
+   2209752612555,
+   2212752579222,
+   2213752612555,
+   2217752601444,
+   2218752612555,
+   2220752623666,
+   2221752601444,
+   2226752612555,
+   2227752623666,
+   2228752612555,
+   2233752612555,
+   2234752734777,
+   2239752623666,
+   2240752612555,
+   2244752590333,
+   2245752623666,
+   2246752612555,
+   2247752634777,
+   2253752601444,
+   2254752734777,
+   2256752623666,
+   2257752612555,
+   2259752601444,
+   2260752612555,
+   2264752623666,
+   2265752623666,
+   2270752612555,
+   2271752612555,
+   2274752634777,
+   2275752612555,
+   2278752612555,
+   2279752601444,
+   2280752612555,
+   2281752612555,
+   2288752612555,
+   2289752612555,
+   2290752612555,
+   2297752612555,
+   2298752612555,
+   2301752612555,
+   2302752612555,
+   2305752601444,
+   2306752634777,
+   2308752612555,
+   2309752623666,
+   2314752734777,
+   2315752623666,
+   2318752601444,
+   2319752612555,
+   2322752612555,
+   2323752612555,
+   2328752612555,
+   2329752612555,
+   2331752612555,
+   2332752601444
+  ]
+ },
+ "version": 1
+}

actions/locomotion_primitives/P11/session_002/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbd73dd28ef0253c36ec73c7bdae50987f7bf686378515af0fbca18ca4277842
+size 794978

actions/locomotion_primitives/P11/session_002/meta.json

@@ -333,8 +333,8 @@
   "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": {
@@ -525,10 +525,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 16.9,
+    "offset_rotvec": [
+     -0.1066,
+     -0.268,
+     -0.0616
+    ],
+    "dev_deg": {
+     "median": 7.61,
+     "p90": 17.7
+    },
+    "samples": 3902,
+    "accepted": 3829,
+    "wrist_pos_err_mm_median": 45.4,
+    "per_camera": {
+     "head": {
+      "samples": 3902,
+      "accepted": 3829,
+      "gate_deg": 30.0,
+      "offset_deg": 16.9,
+      "tier": "primary",
+      "dev_deg_median": 7.61,
+      "wrist_pos_err_mm_median": 45.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15472,
+     "interpolated": 1200,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9993,
+    "observed_fraction_of_valid": 0.9993,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.45,
+     "smplx": 0.51
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.0,
+      "p90": 8.2
+     },
+     "registered": {
+      "median": 7.9,
+      "p90": 9.7
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 10.25,
+    "offset_rotvec": [
+     -0.0995,
+     -0.0575,
+     0.1371
+    ],
+    "dev_deg": {
+     "median": 6.41,
+     "p90": 23.93
+    },
+    "samples": 3819,
+    "accepted": 3612,
+    "wrist_pos_err_mm_median": 58.0,
+    "per_camera": {
+     "head": {
+      "samples": 3819,
+      "accepted": 3612,
+      "gate_deg": 30.0,
+      "offset_deg": 10.25,
+      "tier": "primary",
+      "dev_deg_median": 6.41,
+      "wrist_pos_err_mm_median": 58.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14634,
+     "interpolated": 2038,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9993,
+    "observed_fraction_of_valid": 0.9993,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 9.22,
+     "smplx": 0.91
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.1,
+      "p90": 8.4
+     },
+     "registered": {
+      "median": 7.4,
+      "p90": 9.0
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:27:39.627899+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/locomotion_primitives/P11/session_002",
   "family": "locomotion_primitives",
   "primitive": "P11",
   "source_session": "20260828/P11/20260828_061017_session14"
+ },
+ "task": {
+  "primitive": "P11",
+  "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
  }
 }

actions/locomotion_primitives/P11/session_002/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db4c2cb8b5afb62fc50f09c5cccaef13029bd680d0af63a69955eacf0f371b24
+size 5216592

actions/locomotion_primitives/P11/session_002/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2d24210166cf3a28e1af602024609a89afc3ca4265364e424e9e7318afa20122
-size 6396433
+oid sha256:151d7c94cccb5f44d67330c6ba1d436b6bc38d25824ea38fdb416059bd1aeeba
+size 12006103

actions/locomotion_primitives/P11/session_003/annotations.json

@@ -0,0 +1,149 @@
+{
+ "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": "P11",
+ "instruction": "Walk straight; turn around and walk back; use wide or tight turn.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 118.966656,
+   "video": "left_eye",
+   "video_t_start": 0.04025009329595619
+  }
+ ],
+ "episodes": [
+  {
+   "id": "d0f9ac60-3ff8-4d67-a0d9-e73970b33772",
+   "segment": "segment1",
+   "action": "P11",
+   "quality": "valid",
+   "start_s": 0.769,
+   "end_s": 9.051,
+   "t_start": 0.8093,
+   "t_end": 9.0913,
+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
+  },
+  {
+   "id": "97d00dbe-fce2-4502-9f6e-005b58b6940a",
+   "segment": "segment1",
+   "action": "P11",
+   "quality": "valid",
+   "start_s": 10.682,
+   "end_s": 18.551,
+   "t_start": 10.7223,
+   "t_end": 18.5913,
+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
+  },
+  {
+   "id": "188adbcb-a034-4c1c-90a7-fc757aff5431",
+   "segment": "segment1",
+   "action": "P11",
+   "quality": "valid",
+   "start_s": 20.411,
+   "end_s": 27.786,
+   "t_start": 20.4513,
+   "t_end": 27.8263,
+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
+  },
+  {
+   "id": "7a826d0f-f502-4274-934c-9cb2f45ba8f0",
+   "segment": "segment1",
+   "action": "P11",
+   "quality": "valid",
+   "start_s": 30.074,
+   "end_s": 38.087,
+   "t_start": 30.1143,
+   "t_end": 38.1273,
+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
+  },
+  {
+   "id": "a4d52019-8f27-470b-87c2-0bf074a4e809",
+   "segment": "segment1",
+   "action": "P11",
+   "quality": "valid",
+   "start_s": 40.108,
+   "end_s": 48.044,
+   "t_start": 40.1483,
+   "t_end": 48.0843,
+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
+  },
+  {
+   "id": "fc0a2185-a525-4018-9bdd-c3cbe1d69031",
+   "segment": "segment1",
+   "action": "P11",
+   "quality": "valid",
+   "start_s": 49.689,
+   "end_s": 57.95,
+   "t_start": 49.7293,
+   "t_end": 57.9903,
+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
+  },
+  {
+   "id": "94e10137-e4d5-4049-9132-cc84b9e192fa",
+   "segment": "segment1",
+   "action": "P11",
+   "quality": "valid",
+   "start_s": 59.878,
+   "end_s": 67.117,
+   "t_start": 59.9183,
+   "t_end": 67.1573,
+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
+  },
+  {
+   "id": "b981f714-d8a0-4035-831c-c6a0ca88e24c",
+   "segment": "segment1",
+   "action": "P11",
+   "quality": "valid",
+   "start_s": 68.599,
+   "end_s": 75.772,
+   "t_start": 68.6393,
+   "t_end": 75.8123,
+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
+  },
+  {
+   "id": "58da2dcf-8c61-45e2-99f2-b52eb5660023",
+   "segment": "segment1",
+   "action": "P11",
+   "quality": "valid",
+   "start_s": 77.642,
+   "end_s": 84.933,
+   "t_start": 77.6823,
+   "t_end": 84.9733,
+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
+  },
+  {
+   "id": "65769533-63fe-4186-81c2-965a0dd4f1fb",
+   "segment": "segment1",
+   "action": "P11",
+   "quality": "valid",
+   "start_s": 86.941,
+   "end_s": 95.016,
+   "t_start": 86.9813,
+   "t_end": 95.0563,
+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
+  },
+  {
+   "id": "c1ae2342-dffa-4cf1-bd65-09bd4e30c8b6",
+   "segment": "segment1",
+   "action": "P11",
+   "quality": "valid",
+   "start_s": 97.338,
+   "end_s": 105.734,
+   "t_start": 97.3783,
+   "t_end": 105.7743,
+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
+  },
+  {
+   "id": "b6751382-87ab-431c-bc17-ad3c9e49cb1b",
+   "segment": "segment1",
+   "action": "P11",
+   "quality": "valid",
+   "start_s": 107.355,
+   "end_s": 114.687,
+   "t_start": 107.3953,
+   "t_end": 114.7273,
+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
+  }
+ ]
+}

actions/locomotion_primitives/P11/session_003/cameras/gsi_online_calibration.json

@@ -0,0 +1,265 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 199,
+    "median_px": 652.47,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.349
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.32,
+   "gate_fail": [],
+   "held_out_px_after": 0.422,
+   "held_out_px_before": 3.929,
+   "inliers": 2952,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.1597,
+    0.2387,
+    -0.1412
+   ],
+   "split_deg": 0.0886,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.9083,
+   "gate_fail": [],
+   "held_out_px_after": 0.321,
+   "held_out_px_before": 2.942,
+   "inliers": 4257,
+   "position_fitted": true,
+   "position_mm": [
+    -8.24,
+    6.09,
+    11.45
+   ],
+   "position_sigma_mm": 0.299,
+   "position_split_mm": 2.609,
+   "rotvec_deg": [
+    -0.0366,
+    0.3097,
+    -0.8531
+   ],
+   "split_deg": 0.0669,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.5786,
+   "gate_fail": [],
+   "held_out_px_after": 0.492,
+   "held_out_px_before": 4.388,
+   "inliers": 2675,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2529,
+    -0.5064,
+    0.1198
+   ],
+   "split_deg": 0.106,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.6303,
+   "gate_fail": [],
+   "held_out_px_after": 0.324,
+   "held_out_px_before": 2.683,
+   "inliers": 4586,
+   "position_fitted": true,
+   "position_mm": [
+    -10.65,
+    4.88,
+    12.22
+   ],
+   "position_sigma_mm": 0.253,
+   "position_split_mm": 2.265,
+   "rotvec_deg": [
+    0.0694,
+    -0.0706,
+    -0.6225
+   ],
+   "split_deg": 0.0586,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.1161,
+   "gate_fail": [],
+   "held_out_px_after": 0.344,
+   "held_out_px_before": 9.904,
+   "inliers": 5006,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2283,
+    0.0208,
+    -2.1036
+   ],
+   "split_deg": 0.0153,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "5bd0828cd310929e5f408094ecc3978d1efd6afc6b19e220830bb0904e4ed661",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "9f0b29f446a45c7e46b1ff05839ad51e729c8efe07daefd6de61b6c47f36638d",
+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "72388a9c0d49d2d83fd1f9b7bb009d4d873d3648092e5227fa700cf247ad818d",
+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "74aba1a069136529308af946bcff5820a88e7781cb35b3fa2ee5161c7c61ce3e",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "770bb6e35e4ceea8",
+ "kind": "online_calibration",
+ "output_sha256": "11c2e84db0d86d31fabac70dd76e1b9cd200adf13692a88ec4a83eeebefdeb80",
+ "overlap": {
+  "left-right": 0.487,
+  "left_eye-left": 0.707,
+  "left_eye-right": 0.685,
+  "left_front-left": 0.484,
+  "left_front-left_eye": 0.709,
+  "left_front-right": 0.464,
+  "left_front-right_eye": 0.711,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.708,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.668,
+  "right_front-left": 0.482,
+  "right_front-left_eye": 0.711,
+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
+ "picture_change": {
+  "left": 43.07,
+  "left_eye": 33.635,
+  "left_front": 41.513,
+  "right": 42.24,
+  "right_eye": 36.087,
+  "right_front": 40.685
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   11911205612000,
+   11912205612000,
+   11918205612000,
+   11919205623111,
+   11921205612000,
+   11922205634222,
+   11924205623111,
+   11925205600888,
+   11927205623111,
+   11928205600888,
+   11931205612000,
+   11932205600888,
+   11937205612000,
+   11938205612000,
+   11940205612000,
+   11941205612000,
+   11945205623111,
+   11946205623111,
+   11947205623111,
+   11948205612000,
+   11950205612000,
+   11951205578666,
+   11956205612000,
+   11957205600888,
+   11958205612000,
+   11961205612000,
+   11962205612000,
+   11967205600888,
+   11968205600888,
+   11970205612000,
+   11971205600888,
+   11975205612000,
+   11976205612000,
+   11977205578666,
+   11983205623111,
+   11984205612000,
+   11985205623111,
+   11990205612000,
+   11991205600888,
+   11994205612000,
+   11995205612000,
+   11998205612000,
+   11999205600888,
+   12002205612000,
+   12003205623111,
+   12004205600888,
+   12005205623111,
+   12008205600888,
+   12009205623111,
+   12011205612000,
+   12012205600888,
+   12014205612000,
+   12015205600888,
+   12021205612000,
+   12022205612000,
+   12023205578666,
+   12024205623111
+  ]
+ },
+ "version": 1
+}

actions/locomotion_primitives/P11/session_003/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1496923393ea1affb7045c2cc47449a304e65ed7bc8061fa4a61dc0333858cd3
+size 684145

actions/locomotion_primitives/P11/session_003/meta.json

@@ -347,8 +347,8 @@
   "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 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 12.12,
+    "offset_rotvec": [
+     -0.081,
+     -0.1942,
+     -0.0216
+    ],
+    "dev_deg": {
+     "median": 6.58,
+     "p90": 20.07
+    },
+    "samples": 2761,
+    "accepted": 2634,
+    "wrist_pos_err_mm_median": 51.5,
+    "per_camera": {
+     "head": {
+      "samples": 2761,
+      "accepted": 2634,
+      "gate_deg": 30.0,
+      "offset_deg": 12.12,
+      "tier": "primary",
+      "dev_deg_median": 6.58,
+      "wrist_pos_err_mm_median": 51.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10943,
+     "interpolated": 3300,
+     "mean_hand": 12,
+     "no_body_fit": 29
+    },
+    "observed_fraction": 0.9971,
+    "observed_fraction_of_valid": 0.9992,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 10.33,
+     "smplx": 1.65
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.9,
+      "p90": 12.7
+     },
+     "registered": {
+      "median": 12.7,
+      "p90": 15.1
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 13.17,
+    "offset_rotvec": [
+     -0.1026,
+     -0.1471,
+     0.1439
+    ],
+    "dev_deg": {
+     "median": 6.96,
+     "p90": 26.63
+    },
+    "samples": 2487,
+    "accepted": 2291,
+    "wrist_pos_err_mm_median": 42.2,
+    "per_camera": {
+     "head": {
+      "samples": 2487,
+      "accepted": 2291,
+      "gate_deg": 30.0,
+      "offset_deg": 13.17,
+      "tier": "primary",
+      "dev_deg_median": 6.96,
+      "wrist_pos_err_mm_median": 42.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9595,
+     "interpolated": 4648,
+     "mean_hand": 12,
+     "no_body_fit": 29
+    },
+    "observed_fraction": 0.9971,
+    "observed_fraction_of_valid": 0.9992,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.53,
+     "smplx": 2.82
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.9,
+      "p90": 9.3
+     },
+     "registered": {
+      "median": 6.7,
+      "p90": 9.2
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T13:48:55.322652+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/locomotion_primitives/P11/session_003",
   "family": "locomotion_primitives",
   "primitive": "P11",
   "source_session": "20260904/P11/20260904_042109_session50"
+ },
+ "task": {
+  "primitive": "P11",
+  "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
  }
 }

actions/locomotion_primitives/P11/session_003/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81228b8e607dc522633fd121dbe175be38775d6ac58d7b0865597264454f9c08
+size 3664741