Release update 2026-11-05: new sessions, instructions, annotations (part 67)

actions/locomotion_primitives/P36/session_076/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bc0ce745d243aca3d06018024c36d7ad06f502116af5cc9615b4ccd94ffc71b
+size 744790

actions/locomotion_primitives/P36/session_076/meta.json

@@ -381,8 +381,8 @@
   "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": {
@@ -527,10 +527,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 23.44,
+    "offset_rotvec": [
+     -0.023,
+     -0.2914,
+     0.2861
+    ],
+    "dev_deg": {
+     "median": 11.17,
+     "p90": 22.56
+    },
+    "samples": 2423,
+    "accepted": 2298,
+    "wrist_pos_err_mm_median": 58.1,
+    "per_camera": {
+     "head": {
+      "samples": 2423,
+      "accepted": 2298,
+      "gate_deg": 30.0,
+      "offset_deg": 23.44,
+      "tier": "primary",
+      "dev_deg_median": 11.17,
+      "wrist_pos_err_mm_median": 58.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9496,
+     "interpolated": 4896,
+     "mean_hand": 1092,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9295,
+    "observed_fraction_of_valid": 0.9295,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 18.53,
+     "smplx": 0.99
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 12.3,
+      "p90": 16.0
+     },
+     "registered": {
+      "median": 9.9,
+      "p90": 13.6
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 6.98,
+    "offset_rotvec": [
+     0.061,
+     0.0938,
+     0.0481
+    ],
+    "dev_deg": {
+     "median": 18.2,
+     "p90": 120.98
+    },
+    "samples": 1607,
+    "accepted": 1186,
+    "wrist_pos_err_mm_median": 183.6,
+    "per_camera": {
+     "head": {
+      "samples": 1607,
+      "accepted": 1186,
+      "gate_deg": 30.0,
+      "offset_deg": 6.98,
+      "tier": "primary",
+      "dev_deg_median": 18.2,
+      "wrist_pos_err_mm_median": 183.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 4974,
+     "interpolated": 5730,
+     "mean_hand": 4780,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.6913,
+    "observed_fraction_of_valid": 0.6913,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 17.3,
+     "smplx": 0.86
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.4,
+      "p90": 10.2
+     },
+     "registered": {
+      "median": 7.2,
+      "p90": 9.8
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:06:53.144464+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/P36/session_076",
   "family": "locomotion_primitives",
   "primitive": "P36",
   "source_session": "20261013/P36/20261013_092405_session160"
+ },
+ "task": {
+  "primitive": "P36",
+  "instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop."
  }
 }

actions/locomotion_primitives/P36/session_076/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7a0ffe652140c6e5a252198fe361204179e7cd7d67ccf28ae236f668f040d87
+size 2871931

actions/locomotion_primitives/P36/session_076/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a0e9eab76734fc6f622944f9d03359def767dee65913b3bfd9b4c4ffa66f29b5
-size 5983269
+oid sha256:42461d86bb40bc7d0ab56fdad98c4973041b1fe87909b40ae8cdbfa6e90a14b0
+size 10392416

actions/locomotion_primitives/P36/session_077/annotations.json

@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P36",
+ "instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 143.966622,
+   "video": "left_eye",
+   "video_t_start": 0.039129023727319634
+  }
+ ],
+ "episodes": [
+  {
+   "id": "cd8bfdd0-ac60-4519-b948-6b0502128709",
+   "segment": "segment1",
+   "action": "P36",
+   "quality": "valid",
+   "start_s": 0.56,
+   "end_s": 137.347,
+   "t_start": 0.5991,
+   "t_end": 137.3861,
+   "instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop."
+  }
+ ]
+}

actions/locomotion_primitives/P36/session_077/cameras/gsi_online_calibration.json

@@ -0,0 +1,258 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.364
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.203,
+   "gate_fail": [],
+   "held_out_px_after": 0.626,
+   "held_out_px_before": 6.335,
+   "inliers": 2516,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.0293,
+    -0.3556,
+    -1.1489
+   ],
+   "split_deg": 0.1343,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.4218,
+   "gate_fail": [],
+   "held_out_px_after": 0.36,
+   "held_out_px_before": 5.268,
+   "inliers": 6626,
+   "position_fitted": true,
+   "position_mm": [
+    1.98,
+    -10.55,
+    9.43
+   ],
+   "position_sigma_mm": 0.293,
+   "position_split_mm": 1.889,
+   "rotvec_deg": [
+    -0.1594,
+    0.8183,
+    -2.2738
+   ],
+   "split_deg": 0.0301,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.686,
+   "gate_fail": [],
+   "held_out_px_after": 0.524,
+   "held_out_px_before": 5.707,
+   "inliers": 2824,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.669,
+    -0.2383,
+    -0.0186
+   ],
+   "split_deg": 0.0763,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0288,
+   "gate_fail": [],
+   "held_out_px_after": 0.384,
+   "held_out_px_before": 3.289,
+   "inliers": 6612,
+   "position_fitted": true,
+   "position_mm": [
+    8.9,
+    -15.75,
+    8.3
+   ],
+   "position_sigma_mm": 0.273,
+   "position_split_mm": 2.934,
+   "rotvec_deg": [
+    0.0918,
+    -0.3712,
+    -0.9551
+   ],
+   "split_deg": 0.045,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.1449,
+   "gate_fail": [],
+   "held_out_px_after": 0.337,
+   "held_out_px_before": 4.892,
+   "inliers": 7829,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3198,
+    -0.1187,
+    -2.1176
+   ],
+   "split_deg": 0.0099,
+   "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": "9db5b7e1664b327f4c3f7a7db8d906b9525e2e4fd50ec794ba95ceed66710544",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "b172db4d35c889bb083b62bf08f5866e53a2f241e72d1196417854ae95c0c2d6",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "0044be0284245be14de0ef5ce734189e2e0254dd197365733e98c76b7f04e7c6",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "c943d1ba34ea5c5e080191389f2379f7a99e61a300c07a410daa6ebd08643b92",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "54a39a4806e050e2",
+ "kind": "online_calibration",
+ "output_sha256": "be08e3246a8fd9f18849edfd56f8cd050b4878254c56fe6ace7d476f476c40d0",
+ "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": 46.633,
+  "left_eye": 53.13,
+  "left_front": 49.503,
+  "right": 43.769,
+  "right_eye": 51.672,
+  "right_front": 47.224
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   32625240149111,
+   32626240038000,
+   32633239993555,
+   32634240026888,
+   32635240049111,
+   32636240004666,
+   32641240004666,
+   32642240038000,
+   32644240004666,
+   32645240038000,
+   32652240004666,
+   32653239993555,
+   32654240038000,
+   32658240015777,
+   32659240004666,
+   32665240004666,
+   32666240038000,
+   32668240049111,
+   32669240004666,
+   32672240149111,
+   32673240026888,
+   32677240004666,
+   32678240015777,
+   32681240004666,
+   32682240038000,
+   32686240004666,
+   32687240038000,
+   32690240004666,
+   32691240015777,
+   32696240160222,
+   32697240038000,
+   32702240026888,
+   32703240026888,
+   32705240004666,
+   32706240026888,
+   32713240004666,
+   32714240049111,
+   32716240004666,
+   32717240004666,
+   32721240049111,
+   32722240038000,
+   32726240026888,
+   32727240004666,
+   32731240004666,
+   32732240082444,
+   32733240038000,
+   32734240004666,
+   32739240004666,
+   32740240026888,
+   32741240004666,
+   32742240038000,
+   32749240038000,
+   32750240026888,
+   32754240038000,
+   32755240038000,
+   32757240038000,
+   32758240026888,
+   32762240038000,
+   32763240026888
+  ]
+ },
+ "version": 1
+}

actions/locomotion_primitives/P36/session_077/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4404ea4769deec5daf4a5b545f83e91228844705a9e14b4abb67abd219544f19
+size 829861

actions/locomotion_primitives/P36/session_077/meta.json

@@ -364,8 +364,8 @@
   "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": {
@@ -516,10 +516,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 16.32,
+    "offset_rotvec": [
+     -0.0291,
+     -0.0927,
+     0.2677
+    ],
+    "dev_deg": {
+     "median": 17.28,
+     "p90": 59.49
+    },
+    "samples": 3016,
+    "accepted": 2218,
+    "wrist_pos_err_mm_median": 62.6,
+    "per_camera": {
+     "head": {
+      "samples": 3016,
+      "accepted": 2218,
+      "gate_deg": 30.0,
+      "offset_deg": 16.32,
+      "tier": "primary",
+      "dev_deg_median": 17.28,
+      "wrist_pos_err_mm_median": 62.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9180,
+     "interpolated": 5280,
+     "mean_hand": 2824,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.8366,
+    "observed_fraction_of_valid": 0.8366,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 19.84,
+     "smplx": 1.15
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 15.9,
+      "p90": 25.6
+     },
+     "registered": {
+      "median": 14.4,
+      "p90": 23.7
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 9.15,
+    "offset_rotvec": [
+     0.1073,
+     0.0881,
+     0.0789
+    ],
+    "dev_deg": {
+     "median": 15.76,
+     "p90": 65.21
+    },
+    "samples": 2044,
+    "accepted": 1625,
+    "wrist_pos_err_mm_median": 148.5,
+    "per_camera": {
+     "head": {
+      "samples": 2044,
+      "accepted": 1625,
+      "gate_deg": 30.0,
+      "offset_deg": 9.15,
+      "tier": "primary",
+      "dev_deg_median": 15.76,
+      "wrist_pos_err_mm_median": 148.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 6782,
+     "interpolated": 7466,
+     "mean_hand": 3036,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.8243,
+    "observed_fraction_of_valid": 0.8243,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 15.69,
+     "smplx": 0.59
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.3,
+      "p90": 14.5
+     },
+     "registered": {
+      "median": 9.0,
+      "p90": 13.6
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:06:57.933853+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/P36/session_077",
   "family": "locomotion_primitives",
   "primitive": "P36",
   "source_session": "20261013/P36/20261013_092626_session161"
+ },
+ "task": {
+  "primitive": "P36",
+  "instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop."
  }
 }

actions/locomotion_primitives/P36/session_077/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3ff420133f88d61320c5a91d04265ece725388634559140d4292d08c51facf5
+size 3559632

actions/locomotion_primitives/P36/session_077/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e7f200b9d9e1bbfb8a9846c800aced2aa72eef2913821c22c67f42d7043ead22
-size 6677679
+oid sha256:90c3e80bc63bf8e63c7a71304e9eebee5134e37d33b9a92f91f6135d9ffd08c2
+size 11713067

actions/locomotion_primitives/P36/session_078/annotations.json

@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P36",
+ "instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 133.9666,
+   "video": "left_eye",
+   "video_t_start": 0.03903245156982349
+  }
+ ],
+ "episodes": [
+  {
+   "id": "7341f605-3bf7-4636-b193-9a312a13fbaf",
+   "segment": "segment1",
+   "action": "P36",
+   "quality": "valid",
+   "start_s": 0.673,
+   "end_s": 127.389,
+   "t_start": 0.712,
+   "t_end": 127.428,
+   "instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop."
+  }
+ ]
+}

actions/locomotion_primitives/P36/session_078/cameras/gsi_online_calibration.json

@@ -0,0 +1,258 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.33
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.2901,
+   "gate_fail": [],
+   "held_out_px_after": 0.545,
+   "held_out_px_before": 6.555,
+   "inliers": 2698,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.0899,
+    -0.4231,
+    -1.2154
+   ],
+   "split_deg": 0.0277,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.4157,
+   "gate_fail": [],
+   "held_out_px_after": 0.321,
+   "held_out_px_before": 5.077,
+   "inliers": 9383,
+   "position_fitted": true,
+   "position_mm": [
+    1.96,
+    -10.13,
+    9.71
+   ],
+   "position_sigma_mm": 0.27,
+   "position_split_mm": 2.849,
+   "rotvec_deg": [
+    -0.1691,
+    0.8072,
+    -2.2706
+   ],
+   "split_deg": 0.0403,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 1.7075,
+   "gate_fail": [],
+   "held_out_px_after": 0.46,
+   "held_out_px_before": 5.367,
+   "inliers": 3380,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.69,
+    -0.242,
+    -0.0299
+   ],
+   "split_deg": 0.0519,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0347,
+   "gate_fail": [],
+   "held_out_px_after": 0.315,
+   "held_out_px_before": 2.987,
+   "inliers": 9151,
+   "position_fitted": true,
+   "position_mm": [
+    11.73,
+    -15.79,
+    9.04
+   ],
+   "position_sigma_mm": 0.286,
+   "position_split_mm": 1.699,
+   "rotvec_deg": [
+    0.0632,
+    -0.3723,
+    -0.9633
+   ],
+   "split_deg": 0.015,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.1443,
+   "gate_fail": [],
+   "held_out_px_after": 0.329,
+   "held_out_px_before": 3.956,
+   "inliers": 9629,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.314,
+    -0.1162,
+    -2.118
+   ],
+   "split_deg": 0.0203,
+   "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": "97e369eb3f9c136507223fba1029c17664cca60ba9cde0aa114b66d8d8cc1157",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "fd5c543ffb0a0a85b6632052a48f507607c6de33e2479473876dd65dfd25b819",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "de667761706bb7554055823c29fa833e6ae5ffaa73c825785b108413f5a61045",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "fcec55b8d94eb198cd455e7df7f8114f300856c83bb71b58835b18d5328bcb83",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "b2d20f641be3c1ee",
+ "kind": "online_calibration",
+ "output_sha256": "d9fbb1d7c8ba4e6e81344f97347832b8c596433e5ffb79954ba70faace23156d",
+ "overlap": {
+  "left-right": 0.501,
+  "left_eye-left": 0.707,
+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 39.162,
+  "left_eye": 44.887,
+  "left_front": 44.55,
+  "right": 33.174,
+  "right_eye": 41.815,
+  "right_front": 43.341
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   32780655558888,
+   32781655536666,
+   32783655536666,
+   32784655536666,
+   32787655536666,
+   32788655558888,
+   32793655558888,
+   32794655536666,
+   32798655558888,
+   32799655525555,
+   32803655547777,
+   32804655536666,
+   32807655558888,
+   32808655570000,
+   32809655536666,
+   32816655558888,
+   32817655558888,
+   32818655525555,
+   32821655558888,
+   32822655525555,
+   32827655670000,
+   32828655558888,
+   32832655536666,
+   32833655625555,
+   32836655625555,
+   32837655570000,
+   32842655525555,
+   32843655536666,
+   32844655558888,
+   32847655581111,
+   32848655614444,
+   32853655558888,
+   32854655536666,
+   32857655536666,
+   32858655570000,
+   32861655703333,
+   32862655570000,
+   32866655558888,
+   32867655525555,
+   32869655558888,
+   32870655558888,
+   32872655536666,
+   32873655570000,
+   32879655647777,
+   32880655570000,
+   32883655525555,
+   32884655703333,
+   32886655558888,
+   32887655558888,
+   32889655570000,
+   32890655558888,
+   32895655536666,
+   32896655570000,
+   32899655558888,
+   32900655536666,
+   32904655558888,
+   32905655536666
+  ]
+ },
+ "version": 1
+}

actions/locomotion_primitives/P36/session_078/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bfc5beff20e2e424c59c3b57da7f70d3789330e30099790dbe906db0a9c7962
+size 773138

actions/locomotion_primitives/P36/session_078/meta.json

@@ -365,8 +365,8 @@
   "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 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 23.69,
+    "offset_rotvec": [
+     -0.0577,
+     -0.2802,
+     0.2984
+    ],
+    "dev_deg": {
+     "median": 11.37,
+     "p90": 21.56
+    },
+    "samples": 2586,
+    "accepted": 2465,
+    "wrist_pos_err_mm_median": 78.6,
+    "per_camera": {
+     "head": {
+      "samples": 2586,
+      "accepted": 2465,
+      "gate_deg": 30.0,
+      "offset_deg": 23.69,
+      "tier": "primary",
+      "dev_deg_median": 11.37,
+      "wrist_pos_err_mm_median": 78.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10198,
+     "interpolated": 5498,
+     "mean_hand": 388,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9759,
+    "observed_fraction_of_valid": 0.9759,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 19.46,
+     "smplx": 0.95
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.8,
+      "p90": 8.2
+     },
+     "registered": {
+      "median": 6.9,
+      "p90": 8.8
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 9.66,
+    "offset_rotvec": [
+     0.0857,
+     0.1377,
+     0.0461
+    ],
+    "dev_deg": {
+     "median": 19.49,
+     "p90": 121.82
+    },
+    "samples": 1858,
+    "accepted": 1338,
+    "wrist_pos_err_mm_median": 438.6,
+    "per_camera": {
+     "head": {
+      "samples": 1858,
+      "accepted": 1338,
+      "gate_deg": 30.0,
+      "offset_deg": 9.66,
+      "tier": "primary",
+      "dev_deg_median": 19.49,
+      "wrist_pos_err_mm_median": 438.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 5682,
+     "interpolated": 6958,
+     "mean_hand": 3444,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.7859,
+    "observed_fraction_of_valid": 0.7859,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 17.82,
+     "smplx": 0.52
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.2,
+      "p90": 10.0
+     },
+     "registered": {
+      "median": 6.6,
+      "p90": 9.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:06:55.868321+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/P36/session_078",
   "family": "locomotion_primitives",
   "primitive": "P36",
   "source_session": "20261013/P36/20261013_092900_session162"
+ },
+ "task": {
+  "primitive": "P36",
+  "instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop."
  }
 }

actions/locomotion_primitives/P36/session_078/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a770b254d2b48b77dc34fad7327fdcdebb00ff9ed9d72aa2c092a7dfd7a8175
+size 3149596

actions/locomotion_primitives/P36/session_078/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ad44c6183ed7adc7a70e146ec19888713ca7c62c5c03f989310a97cd99ac910c
-size 6208577
+oid sha256:a853414ea14aacd71a30006d82631051699cb5c123739efa9b84621a8b9e3bdf
+size 11128681

actions/locomotion_primitives/P36/session_079/annotations.json

@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P36",
+ "instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 133.966533,
+   "video": "left_eye",
+   "video_t_start": 0.039039948742265684
+  }
+ ],
+ "episodes": [
+  {
+   "id": "5dbb1520-de5b-44a0-a516-bea803191643",
+   "segment": "segment1",
+   "action": "P36",
+   "quality": "valid",
+   "start_s": 1.143,
+   "end_s": 128.078,
+   "t_start": 1.182,
+   "t_end": 128.117,
+   "instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop."
+  }
+ ]
+}

actions/locomotion_primitives/P36/session_079/cameras/gsi_online_calibration.json

@@ -0,0 +1,260 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.382
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.2894,
+   "gate_fail": [],
+   "held_out_px_after": 0.605,
+   "held_out_px_before": 6.686,
+   "inliers": 2492,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.1031,
+    -0.4004,
+    -1.2213
+   ],
+   "split_deg": 0.0892,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.433,
+   "gate_fail": [],
+   "held_out_px_after": 0.377,
+   "held_out_px_before": 5.137,
+   "inliers": 6884,
+   "position_fitted": true,
+   "position_mm": [
+    4.5,
+    -10.28,
+    10.13
+   ],
+   "position_sigma_mm": 0.344,
+   "position_split_mm": 3.378,
+   "rotvec_deg": [
+    -0.1444,
+    0.7949,
+    -2.2949
+   ],
+   "split_deg": 0.0403,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 1.7386,
+   "gate_fail": [],
+   "held_out_px_after": 0.57,
+   "held_out_px_before": 5.657,
+   "inliers": 3166,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.7114,
+    -0.304,
+    -0.0359
+   ],
+   "split_deg": 0.0319,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0532,
+   "gate_fail": [],
+   "held_out_px_after": 0.364,
+   "held_out_px_before": 3.258,
+   "inliers": 6717,
+   "position_fitted": true,
+   "position_mm": [
+    8.7,
+    -14.63,
+    10.07
+   ],
+   "position_sigma_mm": 0.261,
+   "position_split_mm": 1.506,
+   "rotvec_deg": [
+    0.0963,
+    -0.3653,
+    -0.9831
+   ],
+   "split_deg": 0.0208,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.1641,
+   "gate_fail": [],
+   "held_out_px_after": 0.362,
+   "held_out_px_before": 4.853,
+   "inliers": 7306,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3146,
+    -0.1334,
+    -2.1369
+   ],
+   "split_deg": 0.0218,
+   "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": "b42d794d2fe0fb0b06a2e6c8044384f9f35177a68af1c56374d1d8a67ea66fde",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "6f524b27fc2e06bafbb8efc96f80a0cadedc484b3ebb84f12d856bc503dd8585",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "cd1a53d5dfcda24407ab5a3e30b352fa8a13862bde0cd25ca9e7ac135aeeecf7",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "81d8e29e6a6a54c7c0598af3bd83c2f435c46e13a60c2df09fbd71a73b2be87d",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "8c786f7a7ca31f2b",
+ "kind": "online_calibration",
+ "output_sha256": "27c1b9d4e51c67174d27a4a81ea8204ace07596fce929e93ec05fd388eb25bec",
+ "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": 56.618,
+  "left_eye": 66.982,
+  "left_front": 54.076,
+  "right": 54.002,
+  "right_eye": 66.067,
+  "right_front": 52.793
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   32922385111777,
+   32923385178444,
+   32927385134000,
+   32928385122888,
+   32932385122888,
+   32933385100666,
+   32938385134000,
+   32939385122888,
+   32940385134000,
+   32941385178444,
+   32945385122888,
+   32946385100666,
+   32948385145111,
+   32949385145111,
+   32955385122888,
+   32956385100666,
+   32957385256222,
+   32958385122888,
+   32962385122888,
+   32963385100666,
+   32967385100666,
+   32968385100666,
+   32972385100666,
+   32973385100666,
+   32975385267333,
+   32976385122888,
+   32981385134000,
+   32982385256222,
+   32985385134000,
+   32986385100666,
+   32987385145111,
+   32988385111777,
+   32993385089555,
+   32994385100666,
+   32997385100666,
+   32998385256222,
+   33002385111777,
+   33003385134000,
+   33004385134000,
+   33005385145111,
+   33010385100666,
+   33011385122888,
+   33014385100666,
+   33015385122888,
+   33020385122888,
+   33021385122888,
+   33023385145111,
+   33024385134000,
+   33028385167333,
+   33029385245111,
+   33030385111777,
+   33033385100666,
+   33034385111777,
+   33039385256222,
+   33040385100666,
+   33044385122888,
+   33045385134000,
+   33048385100666,
+   33049385100666
+  ]
+ },
+ "version": 1
+}

actions/locomotion_primitives/P36/session_079/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a22b1ac67585250d8ae95fa0e101a3ac1e760aba51862214fe10589a85197939
+size 771101

actions/locomotion_primitives/P36/session_079/meta.json

@@ -365,8 +365,8 @@
   "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": {
@@ -521,10 +521,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 20.17,
+    "offset_rotvec": [
+     -0.0475,
+     -0.1947,
+     0.2894
+    ],
+    "dev_deg": {
+     "median": 13.89,
+     "p90": 60.5
+    },
+    "samples": 2482,
+    "accepted": 2032,
+    "wrist_pos_err_mm_median": 71.1,
+    "per_camera": {
+     "head": {
+      "samples": 2482,
+      "accepted": 2032,
+      "gate_deg": 30.0,
+      "offset_deg": 20.17,
+      "tier": "primary",
+      "dev_deg_median": 13.89,
+      "wrist_pos_err_mm_median": 71.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 8430,
+     "interpolated": 5738,
+     "mean_hand": 1916,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.8809,
+    "observed_fraction_of_valid": 0.8809,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 19.76,
+     "smplx": 0.97
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.9,
+      "p90": 16.2
+     },
+     "registered": {
+      "median": 10.4,
+      "p90": 14.0
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 8.78,
+    "offset_rotvec": [
+     0.0833,
+     0.0917,
+     0.0901
+    ],
+    "dev_deg": {
+     "median": 22.1,
+     "p90": 128.93
+    },
+    "samples": 1768,
+    "accepted": 1099,
+    "wrist_pos_err_mm_median": 439.1,
+    "per_camera": {
+     "head": {
+      "samples": 1768,
+      "accepted": 1099,
+      "gate_deg": 30.0,
+      "offset_deg": 8.78,
+      "tier": "primary",
+      "dev_deg_median": 22.1,
+      "wrist_pos_err_mm_median": 439.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 4630,
+     "interpolated": 5938,
+     "mean_hand": 5516,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.6571,
+    "observed_fraction_of_valid": 0.6571,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 20.95,
+     "smplx": 0.77
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.4,
+      "p90": 14.7
+     },
+     "registered": {
+      "median": 9.6,
+      "p90": 14.1
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:06:55.715299+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/P36/session_079",
   "family": "locomotion_primitives",
   "primitive": "P36",
   "source_session": "20261013/P36/20261013_093124_session163"
+ },
+ "task": {
+  "primitive": "P36",
+  "instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop."
  }
 }

actions/locomotion_primitives/P36/session_079/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec985e984b89bb32cb88bd281bac0adbdf0f7c99f17dd5405f8475efed09af9e
+size 3025414

actions/locomotion_primitives/P36/session_079/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:599f0ad1219ef8200e190faf602dfffa87382eef361e8ecb85926288849feb16
-size 6211460
+oid sha256:4090db0e73ce61bb12aa16ad9f831c491f33477ba267272c0ab3c9feccb98c75
+size 10638093

actions/locomotion_primitives/P36/session_080/annotations.json

@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P36",
+ "instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 133.966622,
+   "video": "left_eye",
+   "video_t_start": 0.03883364144802259
+  }
+ ],
+ "episodes": [
+  {
+   "id": "0c682f95-5aba-4b1b-b69b-49f10ede7497",
+   "segment": "segment1",
+   "action": "P36",
+   "quality": "valid",
+   "start_s": 1.32,
+   "end_s": 130.08,
+   "t_start": 1.3588,
+   "t_end": 130.1188,
+   "instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop."
+  }
+ ]
+}

actions/locomotion_primitives/P36/session_080/cameras/gsi_online_calibration.json

@@ -0,0 +1,258 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.362
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.2457,
+   "gate_fail": [],
+   "held_out_px_after": 0.561,
+   "held_out_px_before": 6.779,
+   "inliers": 2688,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.129,
+    -0.3358,
+    -1.1926
+   ],
+   "split_deg": 0.0846,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.4462,
+   "gate_fail": [],
+   "held_out_px_after": 0.358,
+   "held_out_px_before": 5.42,
+   "inliers": 7340,
+   "position_fitted": true,
+   "position_mm": [
+    4.47,
+    -11.51,
+    11.07
+   ],
+   "position_sigma_mm": 0.27,
+   "position_split_mm": 3.013,
+   "rotvec_deg": [
+    -0.1867,
+    0.8013,
+    -2.3037
+   ],
+   "split_deg": 0.0316,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 1.7143,
+   "gate_fail": [],
+   "held_out_px_after": 0.481,
+   "held_out_px_before": 5.53,
+   "inliers": 3040,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.685,
+    -0.307,
+    -0.0722
+   ],
+   "split_deg": 0.0409,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0467,
+   "gate_fail": [],
+   "held_out_px_after": 0.362,
+   "held_out_px_before": 2.999,
+   "inliers": 7022,
+   "position_fitted": true,
+   "position_mm": [
+    7.8,
+    -16.33,
+    10.3
+   ],
+   "position_sigma_mm": 0.261,
+   "position_split_mm": 1.408,
+   "rotvec_deg": [
+    0.0549,
+    -0.3475,
+    -0.9858
+   ],
+   "split_deg": 0.0314,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.1567,
+   "gate_fail": [],
+   "held_out_px_after": 0.352,
+   "held_out_px_before": 4.735,
+   "inliers": 7787,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.318,
+    -0.1134,
+    -2.1301
+   ],
+   "split_deg": 0.0164,
+   "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": "f928ba6d82f5b676c16148e4dc24261fbdd1ae88c1d728fb6281c52c4ebecae8",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "8cd1c22eedb8dcbb73c083c1e4a51e963bd7407e4ac8153d7ec101a1427b1c8b",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "ef471debaa2d4cf2be10fea2ff3a7a0b4c424389d03de8cacd37a04079ab15c7",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "c7c230c3343a04ada5ecf0fa7d325896d349ba13b5c611cd940ea7e238538251",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "7b60ebc2a847bdb9",
+ "kind": "online_calibration",
+ "output_sha256": "55b0fec082a8a0ecd8874888432e4a16f974b3a6d89eb1b0753dd7ae15e63cad",
+ "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": 49.086,
+  "left_eye": 55.729,
+  "left_front": 46.249,
+  "right": 50.991,
+  "right_eye": 55.591,
+  "right_front": 46.336
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   33066299966111,
+   33067299943888,
+   33071299921666,
+   33072299921666,
+   33076299921666,
+   33077299921666,
+   33081299943888,
+   33082299921666,
+   33084299932777,
+   33085299955000,
+   33089299921666,
+   33090299921666,
+   33095299921666,
+   33096299921666,
+   33100299932777,
+   33101299943888,
+   33105299943888,
+   33106299943888,
+   33107299955000,
+   33110299921666,
+   33111299932777,
+   33116299932777,
+   33117299921666,
+   33122299943888,
+   33123299943888,
+   33124299921666,
+   33128299955000,
+   33129299955000,
+   33135299921666,
+   33136299943888,
+   33138299921666,
+   33139299921666,
+   33142299943888,
+   33143299955000,
+   33147299921666,
+   33148299932777,
+   33152299921666,
+   33153299943888,
+   33156299955000,
+   33157299943888,
+   33161299921666,
+   33162299955000,
+   33166300010555,
+   33167299955000,
+   33168299977222,
+   33171299921666,
+   33172299966111,
+   33176299921666,
+   33177299943888,
+   33182299955000,
+   33183299943888,
+   33187299932777,
+   33188299932777,
+   33189299921666,
+   33190299943888,
+   33194299966111,
+   33195299921666
+  ]
+ },
+ "version": 1
+}

actions/locomotion_primitives/P36/session_080/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4424c0611d99c477c53ff2c8b8cf2b21e5d86cac3282356c3b56a28c601afdd
+size 771773

actions/locomotion_primitives/P36/session_080/meta.json

@@ -354,8 +354,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -500,10 +500,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 24.79,
+    "offset_rotvec": [
+     -0.0688,
+     -0.2896,
+     0.314
+    ],
+    "dev_deg": {
+     "median": 11.79,
+     "p90": 23.31
+    },
+    "samples": 2422,
+    "accepted": 2296,
+    "wrist_pos_err_mm_median": 66.9,
+    "per_camera": {
+     "head": {
+      "samples": 2422,
+      "accepted": 2296,
+      "gate_deg": 30.0,
+      "offset_deg": 24.79,
+      "tier": "primary",
+      "dev_deg_median": 11.79,
+      "wrist_pos_err_mm_median": 66.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9505,
+     "interpolated": 6114,
+     "mean_hand": 457,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9711,
+    "observed_fraction_of_valid": 0.9716,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 19.03,
+     "smplx": 0.63
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.0,
+      "p90": 12.3
+     },
+     "registered": {
+      "median": 8.2,
+      "p90": 9.9
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 12.38,
+    "offset_rotvec": [
+     -0.0017,
+     -0.1702,
+     0.1332
+    ],
+    "dev_deg": {
+     "median": 25.41,
+     "p90": 128.29
+    },
+    "samples": 1674,
+    "accepted": 999,
+    "wrist_pos_err_mm_median": 197.2,
+    "per_camera": {
+     "head": {
+      "samples": 1674,
+      "accepted": 999,
+      "gate_deg": 30.0,
+      "offset_deg": 12.38,
+      "tier": "primary",
+      "dev_deg_median": 25.41,
+      "wrist_pos_err_mm_median": 197.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 4217,
+     "interpolated": 6842,
+     "mean_hand": 5017,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.6876,
+    "observed_fraction_of_valid": 0.6879,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 18.29,
+     "smplx": 0.54
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.8,
+      "p90": 13.1
+     },
+     "registered": {
+      "median": 8.5,
+      "p90": 12.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:06:55.767309+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/P36/session_080",
   "family": "locomotion_primitives",
   "primitive": "P36",
   "source_session": "20261013/P36/20261013_093348_session164"
+ },
+ "task": {
+  "primitive": "P36",
+  "instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop."
  }
 }

actions/locomotion_primitives/P36/session_080/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c7e208cd61eb30b5e47afb3a533959c99952e75b5ae17f71dbe0de15b1004aa
+size 2929648

actions/locomotion_primitives/P36/session_080/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c5c6eb9035d4f1ec49812d584e882d9a7f1072924d8abe0825bd561c51e61e50
-size 6218065
+oid sha256:60ec3b7baabd70492e03261a9ef08295b4a434e11ce2473455e9f22329aace64
+size 10952777

actions/locomotion_primitives/P36/session_081/annotations.json

@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P36",
+ "instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 138.966556,
+   "video": "left_eye",
+   "video_t_start": 0.03910879053901817
+  }
+ ],
+ "episodes": [
+  {
+   "id": "18d54a6b-c3b2-4967-88c5-3f0c3bb8de84",
+   "segment": "segment1",
+   "action": "P36",
+   "quality": "valid",
+   "start_s": 0.984,
+   "end_s": 134.966,
+   "t_start": 1.0231,
+   "t_end": 135.0051,
+   "instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop."
+  }
+ ]
+}

actions/locomotion_primitives/P36/session_081/cameras/gsi_online_calibration.json

@@ -0,0 +1,256 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.372
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.3105,
+   "gate_fail": [],
+   "held_out_px_after": 0.579,
+   "held_out_px_before": 6.605,
+   "inliers": 2904,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.095,
+    -0.4356,
+    -1.2323
+   ],
+   "split_deg": 0.0463,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.4548,
+   "gate_fail": [],
+   "held_out_px_after": 0.38,
+   "held_out_px_before": 5.731,
+   "inliers": 6327,
+   "position_fitted": true,
+   "position_mm": [
+    5.19,
+    -9.47,
+    8.49
+   ],
+   "position_sigma_mm": 0.348,
+   "position_split_mm": 0.668,
+   "rotvec_deg": [
+    -0.1401,
+    0.8004,
+    -2.3164
+   ],
+   "split_deg": 0.0305,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.7064,
+   "gate_fail": [],
+   "held_out_px_after": 0.477,
+   "held_out_px_before": 5.843,
+   "inliers": 2814,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.6827,
+    -0.2747,
+    -0.0703
+   ],
+   "split_deg": 0.0545,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0599,
+   "gate_fail": [],
+   "held_out_px_after": 0.351,
+   "held_out_px_before": 3.102,
+   "inliers": 5523,
+   "position_fitted": true,
+   "position_mm": [
+    10.28,
+    -14.81,
+    8.3
+   ],
+   "position_sigma_mm": 0.336,
+   "position_split_mm": 1.065,
+   "rotvec_deg": [
+    0.107,
+    -0.4043,
+    -0.9738
+   ],
+   "split_deg": 0.0334,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.168,
+   "gate_fail": [],
+   "held_out_px_after": 0.355,
+   "held_out_px_before": 5.741,
+   "inliers": 7299,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3212,
+    -0.1571,
+    -2.1383
+   ],
+   "split_deg": 0.0202,
+   "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": "1d8e888f326f775b21b915c23b610cc359f5d21da964c562669efeadfe807137",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "aa512b76e162991679f6b0f96e3d137de35abb4444c7ff8260391aff96643c0d",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "011cde32a922376db4dfcce72469c5ad74e1807c0ae2ed33a96b5db6732551c3",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "f99159485cdd9d9935f4d3efbfd285cd56b6085324a5185c68bb3ec5673be320",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "cf7de4d96268be1a",
+ "kind": "online_calibration",
+ "output_sha256": "4e3c1e3cd9d6b907e733d2cff533a84e006672c9e21832eaf5c509b632085654",
+ "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": 43.161,
+  "left_eye": 46.553,
+  "left_front": 44.418,
+  "right": 38.56,
+  "right_eye": 42.061,
+  "right_front": 44.594
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   33210342987333,
+   33211342887333,
+   33219342865111,
+   33220342831777,
+   33222342831777,
+   33223342820666,
+   33227342854000,
+   33228342865111,
+   33231342831777,
+   33232342865111,
+   33233342865111,
+   33234342820666,
+   33238342831777,
+   33239342854000,
+   33244342831777,
+   33245342865111,
+   33248342854000,
+   33249342931777,
+   33251342865111,
+   33252342987333,
+   33259342820666,
+   33260342831777,
+   33261342831777,
+   33267342831777,
+   33268342854000,
+   33270342831777,
+   33271342831777,
+   33277342909555,
+   33278342854000,
+   33281342831777,
+   33282342820666,
+   33287342965111,
+   33288342831777,
+   33291342842888,
+   33292342831777,
+   33293342854000,
+   33300342854000,
+   33301342854000,
+   33304342854000,
+   33305342831777,
+   33306342865111,
+   33307342865111,
+   33314342831777,
+   33315342831777,
+   33316342831777,
+   33320342831777,
+   33321342987333,
+   33325342831777,
+   33326342831777,
+   33330342987333,
+   33331342831777,
+   33335342854000,
+   33336342831777,
+   33339342854000,
+   33340342931777,
+   33342342854000,
+   33343342842888
+  ]
+ },
+ "version": 1
+}

actions/locomotion_primitives/P36/session_081/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:931f1fa9ad9b3ad2587490a0e0dfffee4976d037f979a4de1b642290f42f460a
+size 801676

actions/locomotion_primitives/P36/session_081/meta.json

@@ -354,8 +354,8 @@
   "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": {
@@ -495,10 +495,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 24.28,
+    "offset_rotvec": [
+     -0.0562,
+     -0.2963,
+     0.2978
+    ],
+    "dev_deg": {
+     "median": 12.15,
+     "p90": 22.77
+    },
+    "samples": 2680,
+    "accepted": 2560,
+    "wrist_pos_err_mm_median": 61.5,
+    "per_camera": {
+     "head": {
+      "samples": 2680,
+      "accepted": 2560,
+      "gate_deg": 30.0,
+      "offset_deg": 24.28,
+      "tier": "primary",
+      "dev_deg_median": 12.15,
+      "wrist_pos_err_mm_median": 61.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10556,
+     "interpolated": 5100,
+     "mean_hand": 1028,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9384,
+    "observed_fraction_of_valid": 0.9384,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 18.42,
+     "smplx": 0.63
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.2,
+      "p90": 10.7
+     },
+     "registered": {
+      "median": 8.0,
+      "p90": 9.7
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 4.79,
+    "offset_rotvec": [
+     0.0698,
+     -0.0142,
+     0.0438
+    ],
+    "dev_deg": {
+     "median": 19.57,
+     "p90": 61.0
+    },
+    "samples": 1920,
+    "accepted": 1449,
+    "wrist_pos_err_mm_median": 75.0,
+    "per_camera": {
+     "head": {
+      "samples": 1920,
+      "accepted": 1449,
+      "gate_deg": 30.0,
+      "offset_deg": 4.79,
+      "tier": "primary",
+      "dev_deg_median": 19.57,
+      "wrist_pos_err_mm_median": 75.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 6092,
+     "interpolated": 7732,
+     "mean_hand": 2860,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.8286,
+    "observed_fraction_of_valid": 0.8286,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 17.1,
+     "smplx": 0.74
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.1,
+      "p90": 12.7
+     },
+     "registered": {
+      "median": 9.0,
+      "p90": 12.2
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:06:56.141293+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/P36/session_081",
   "family": "locomotion_primitives",
   "primitive": "P36",
   "source_session": "20261013/P36/20261013_093612_session165"
+ },
+ "task": {
+  "primitive": "P36",
+  "instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop."
  }
 }

actions/locomotion_primitives/P36/session_081/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21cd52881964fe8ea8aa0bc430db8d5205de669fef38caacebf5623554400878
+size 3255296

actions/locomotion_primitives/P36/session_081/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8996a6438470f0ea3bdbb0700b9972b05e149ea2ef49306165b107ec67bff50f
-size 6446634
+oid sha256:2c8e4f313677b471b6430cf4fbf3b6cd38cbb3bcaccd43f09a150e6d1df3f195
+size 11651105

actions/locomotion_primitives/P36/session_082/annotations.json

@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P36",
+ "instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 133.966689,
+   "video": "left_eye",
+   "video_t_start": 0.03896175330512808
+  }
+ ],
+ "episodes": [
+  {
+   "id": "4ba5c161-4151-4607-aaec-02ffb8b7abae",
+   "segment": "segment1",
+   "action": "P36",
+   "quality": "valid",
+   "start_s": 1.31,
+   "end_s": 127.132,
+   "t_start": 1.349,
+   "t_end": 127.171,
+   "instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop."
+  }
+ ]
+}

actions/locomotion_primitives/P36/session_082/cameras/gsi_online_calibration.json

@@ -0,0 +1,256 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.392
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.3101,
+   "gate_fail": [],
+   "held_out_px_after": 0.612,
+   "held_out_px_before": 6.666,
+   "inliers": 1728,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.0858,
+    -0.4474,
+    -1.2284
+   ],
+   "split_deg": 0.1147,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.402,
+   "gate_fail": [],
+   "held_out_px_after": 0.386,
+   "held_out_px_before": 4.913,
+   "inliers": 4601,
+   "position_fitted": true,
+   "position_mm": [
+    2.25,
+    -10.1,
+    10.28
+   ],
+   "position_sigma_mm": 0.484,
+   "position_split_mm": 3.239,
+   "rotvec_deg": [
+    -0.1467,
+    0.8059,
+    -2.2581
+   ],
+   "split_deg": 0.0467,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 1.7882,
+   "gate_fail": [],
+   "held_out_px_after": 0.504,
+   "held_out_px_before": 6.009,
+   "inliers": 2639,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.7764,
+    -0.1958,
+    0.0594
+   ],
+   "split_deg": 0.0352,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0595,
+   "gate_fail": [],
+   "held_out_px_after": 0.399,
+   "held_out_px_before": 3.578,
+   "inliers": 4411,
+   "position_fitted": true,
+   "position_mm": [
+    11.13,
+    -11.9,
+    7.88
+   ],
+   "position_sigma_mm": 0.433,
+   "position_split_mm": 3.116,
+   "rotvec_deg": [
+    0.1808,
+    -0.385,
+    -0.9704
+   ],
+   "split_deg": 0.0759,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.1632,
+   "gate_fail": [],
+   "held_out_px_after": 0.375,
+   "held_out_px_before": 5.55,
+   "inliers": 5640,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2954,
+    -0.0978,
+    -2.1407
+   ],
+   "split_deg": 0.0212,
+   "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": "d90929802ddd3b0452b036a7d49f65148dd9278b3676a44b3250e78d59be8909",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "70136fd4791ddcc50fd2bf8bbc8f48e1dca86d387e97de5174713723a2b343ad",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "1c1c974e71d70d66503ba9f4cb6098151c06469e64d9f71a5b8964aa665f3563",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "97b17cb72ca80df04ebce99856dfd7dd034cd4c5b6a6be6de1b9d3e0c5fc2bfc",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "c82a8678faaa8031",
+ "kind": "online_calibration",
+ "output_sha256": "711853e2f26766c9413f476145ca18e06c53193d5cd8f8fac951e9be0404bd9c",
+ "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": 34.359,
+  "left_eye": 40.725,
+  "left_front": 44.256,
+  "right": 36.855,
+  "right_eye": 41.094,
+  "right_front": 45.074
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   41951343061888,
+   41952343073000,
+   41957343139666,
+   41958343061888,
+   41960343117444,
+   41961343050777,
+   41966343184111,
+   41967343061888,
+   41971343039666,
+   41972343061888,
+   41973343039666,
+   41974343061888,
+   41980343061888,
+   41981343195222,
+   41982343028555,
+   41983343028555,
+   41987343039666,
+   41988343050777,
+   41994343039666,
+   41995343206333,
+   41996343028555,
+   41999343061888,
+   42000343061888,
+   42006343028555,
+   42007343039666,
+   42008343061888,
+   42015343050777,
+   42016343073000,
+   42017343061888,
+   42021343028555,
+   42022343039666,
+   42026343073000,
+   42027343039666,
+   42031343039666,
+   42032343050777,
+   42036343028555,
+   42037343061888,
+   42038343028555,
+   42043343039666,
+   42044343161888,
+   42048343173000,
+   42049343028555,
+   42054343061888,
+   42055343028555,
+   42056343028555,
+   42060343061888,
+   42061343061888,
+   42063343173000,
+   42064343061888,
+   42070343073000,
+   42071343039666,
+   42075343028555,
+   42076343050777,
+   42077343061888,
+   42078343050777
+  ]
+ },
+ "version": 1
+}

actions/locomotion_primitives/P36/session_082/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b84fc89b3dbe7234e832ead4e8ac40bef1997e79801a9fc0743b22a4efe7d087
+size 773885

actions/locomotion_primitives/P36/session_082/meta.json

@@ -363,8 +363,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -510,10 +510,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 23.19,
+    "offset_rotvec": [
+     0.09,
+     -0.3105,
+     0.2434
+    ],
+    "dev_deg": {
+     "median": 12.6,
+     "p90": 29.13
+    },
+    "samples": 2501,
+    "accepted": 2261,
+    "wrist_pos_err_mm_median": 71.5,
+    "per_camera": {
+     "head": {
+      "samples": 2501,
+      "accepted": 2261,
+      "gate_deg": 30.0,
+      "offset_deg": 23.19,
+      "tier": "primary",
+      "dev_deg_median": 12.6,
+      "wrist_pos_err_mm_median": 71.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9403,
+     "interpolated": 5632,
+     "mean_hand": 1041,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9348,
+    "observed_fraction_of_valid": 0.9352,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 23.42,
+     "smplx": 0.47
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.8,
+      "p90": 10.3
+     },
+     "registered": {
+      "median": 6.7,
+      "p90": 8.4
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 8.76,
+    "offset_rotvec": [
+     -0.0117,
+     0.1453,
+     0.0461
+    ],
+    "dev_deg": {
+     "median": 15.81,
+     "p90": 34.03
+    },
+    "samples": 1740,
+    "accepted": 1511,
+    "wrist_pos_err_mm_median": 435.9,
+    "per_camera": {
+     "head": {
+      "samples": 1740,
+      "accepted": 1511,
+      "gate_deg": 30.0,
+      "offset_deg": 8.76,
+      "tier": "primary",
+      "dev_deg_median": 15.81,
+      "wrist_pos_err_mm_median": 435.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 6429,
+     "interpolated": 7998,
+     "mean_hand": 1649,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.897,
+    "observed_fraction_of_valid": 0.8974,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 14.2,
+     "smplx": 0.68
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.7,
+      "p90": 13.8
+     },
+     "registered": {
+      "median": 8.8,
+      "p90": 13.2
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:06:55.143046+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/P36/session_082",
   "family": "locomotion_primitives",
   "primitive": "P36",
   "source_session": "20261013/P36/20261013_120153_session215"
+ },
+ "task": {
+  "primitive": "P36",
+  "instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop."
  }
 }

actions/locomotion_primitives/P36/session_082/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26addc7cdcebf774d5d56cd2299985fd8048b6246241e8ef77221b981891c705
+size 3015290

actions/locomotion_primitives/P36/session_082/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3566f3da8b2d5c746819705525aaac6abaefd476a63c4af080732f123761c21a
-size 6207763
+oid sha256:fd9420bd7c8eae14bb324b193ee5f1ca2f6891e2580e1d003cb377c6634a5948
+size 11297283

actions/locomotion_primitives/P36/session_083/annotations.json

@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P36",
+ "instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 129.966578,
+   "video": "left_eye",
+   "video_t_start": 0.04020383356324812
+  }
+ ],
+ "episodes": [
+  {
+   "id": "8ba13bad-b80c-47ba-8863-431f9db826e9",
+   "segment": "segment1",
+   "action": "P36",
+   "quality": "valid",
+   "start_s": 2.07,
+   "end_s": 127.007,
+   "t_start": 2.1102,
+   "t_end": 127.0472,
+   "instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop."
+  }
+ ]
+}

actions/locomotion_primitives/P36/session_083/cameras/gsi_online_calibration.json

@@ -0,0 +1,255 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.409
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.7565,
+   "gate_fail": [],
+   "held_out_px_after": 0.554,
+   "held_out_px_before": 12.499,
+   "inliers": 797,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.4542,
+    -0.3741,
+    -0.9114
+   ],
+   "split_deg": 0.1006,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.2603,
+   "gate_fail": [],
+   "held_out_px_after": 0.947,
+   "held_out_px_before": 6.065,
+   "inliers": 1870,
+   "position_fitted": true,
+   "position_mm": [
+    -0.97,
+    -40.19,
+    -13.7
+   ],
+   "position_sigma_mm": 0.407,
+   "position_split_mm": 8.404,
+   "rotvec_deg": [
+    1.4425,
+    -1.0009,
+    1.4234
+   ],
+   "split_deg": 0.5052,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.6092,
+   "gate_fail": [],
+   "held_out_px_after": 0.517,
+   "held_out_px_before": 11.899,
+   "inliers": 1653,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.6648,
+    -1.3846,
+    2.8875
+   ],
+   "split_deg": 0.2226,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 3.2932,
+   "gate_fail": [],
+   "held_out_px_after": 0.488,
+   "held_out_px_before": 7.002,
+   "inliers": 2581,
+   "position_fitted": true,
+   "position_mm": [
+    3.87,
+    -11.75,
+    -5.25
+   ],
+   "position_sigma_mm": 0.486,
+   "position_split_mm": 3.85,
+   "rotvec_deg": [
+    2.0658,
+    -1.3002,
+    2.2106
+   ],
+   "split_deg": 0.1954,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.3976,
+   "gate_fail": [],
+   "held_out_px_after": 0.366,
+   "held_out_px_before": 2.321,
+   "inliers": 4137,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2528,
+    -0.3031,
+    0.0482
+   ],
+   "split_deg": 0.0479,
+   "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": "b2594ce21eb36e3919bf743b552038ebc726e4ba598ed223301084c81fe7b95a",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "6e177bada15fc7217f2ed72192a0794eca9602832703b27b888790344be7be82",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "9f99fc2f30bb1ed91cae643238d7a90cb809927c7fb4c4bd16f9bca5ee32fd90",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "ad217fb08c7f60ab0f25b2ec120eb696d243c6a479664f88e2d9bbf839c5f641",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "1230eeed19effed8",
+ "kind": "online_calibration",
+ "output_sha256": "289256b65d52162575e02eb71620b6f2027c9de3a7516928ba660fea9ac60dcd",
+ "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": 39.206,
+  "left_eye": 34.04,
+  "left_front": 46.702,
+  "right": 39.596,
+  "right_eye": 35.152,
+  "right_front": 45.182
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   7985860516333,
+   7986860494111,
+   7990860505222,
+   7991860505222,
+   7996860494111,
+   7997860483000,
+   7998860483000,
+   7999860505222,
+   8003860483000,
+   8004860505222,
+   8007860560777,
+   8008860494111,
+   8012860505222,
+   8013860560777,
+   8018860505222,
+   8019860560777,
+   8020860505222,
+   8023860483000,
+   8024860494111,
+   8028860494111,
+   8029860483000,
+   8035860483000,
+   8036860483000,
+   8037860505222,
+   8038860483000,
+   8040860516333,
+   8041860516333,
+   8048860505222,
+   8049860638555,
+   8050860516333,
+   8053860549666,
+   8054860560777,
+   8060860494111,
+   8061860616333,
+   8062860549666,
+   8069860483000,
+   8070860638555,
+   8071860505222,
+   8074860505222,
+   8075860494111,
+   8079860494111,
+   8080860638555,
+   8084860638555,
+   8085860483000,
+   8086860494111,
+   8087860505222,
+   8091860505222,
+   8092860660777,
+   8096860483000,
+   8097860627444,
+   8100860505222,
+   8101860516333,
+   8103860483000,
+   8104860516333,
+   8109860483000,
+   8111860560777
+  ]
+ },
+ "version": 1
+}

actions/locomotion_primitives/P36/session_083/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1343af3733707e443f0f99c9b2961dc4302d3a52de8a553248a85a48d4b6fbb
+size 750079

actions/locomotion_primitives/P36/session_083/meta.json

@@ -377,8 +377,8 @@
   "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 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 29.42,
+    "offset_rotvec": [
+     0.1965,
+     -0.4634,
+     -0.1019
+    ],
+    "dev_deg": {
+     "median": 16.89,
+     "p90": 34.15
+    },
+    "samples": 1789,
+    "accepted": 1531,
+    "wrist_pos_err_mm_median": 81.4,
+    "per_camera": {
+     "head": {
+      "samples": 1789,
+      "accepted": 1531,
+      "gate_deg": 30.0,
+      "offset_deg": 29.42,
+      "tier": "primary",
+      "dev_deg_median": 16.89,
+      "wrist_pos_err_mm_median": 81.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 6594,
+     "interpolated": 8830,
+     "mean_hand": 177,
+     "no_body_fit": 3
+    },
+    "observed_fraction": 0.9885,
+    "observed_fraction_of_valid": 0.9887,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 28.85,
+     "smplx": 0.8
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.9,
+      "p90": 10.6
+     },
+     "registered": {
+      "median": 9.7,
+      "p90": 12.4
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 38.22,
+    "offset_rotvec": [
+     0.5632,
+     0.3333,
+     0.1287
+    ],
+    "dev_deg": {
+     "median": 19.06,
+     "p90": 40.57
+    },
+    "samples": 2367,
+    "accepted": 1815,
+    "wrist_pos_err_mm_median": 50.9,
+    "per_camera": {
+     "head": {
+      "samples": 2367,
+      "accepted": 1815,
+      "gate_deg": 30.0,
+      "offset_deg": 38.22,
+      "tier": "primary",
+      "dev_deg_median": 19.06,
+      "wrist_pos_err_mm_median": 50.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 7602,
+     "interpolated": 6378,
+     "mean_hand": 1621,
+     "no_body_fit": 3
+    },
+    "observed_fraction": 0.8959,
+    "observed_fraction_of_valid": 0.8961,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 42.31,
+     "smplx": 1.14
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.3,
+      "p90": 20.4
+     },
+     "registered": {
+      "median": 9.2,
+      "p90": 19.6
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:38:51.512687+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/P36/session_083",
   "family": "locomotion_primitives",
   "primitive": "P36",
   "source_session": "20261017/P36/20261017_025206_session30"
+ },
+ "task": {
+  "primitive": "P36",
+  "instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop."
  }
 }

actions/locomotion_primitives/P36/session_083/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:775271099d5639831a9bdd03bc34314c53debd8a50d10aaa7ebc1759035697c2
+size 2927580

actions/locomotion_primitives/P36/session_083/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:abfe9528266c3be70481817af9f5ff8e616455d8468ac9f59892f363888f72e4
-size 6013307
+oid sha256:f0ca61e8159f7f22c5188369663d0677b4b9347982f5e60f96eace383e50d9bd
+size 11030992

actions/locomotion_primitives/P36/session_084/annotations.json

@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P36",
+ "instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 132.966644,
+   "video": "left_eye",
+   "video_t_start": 0.04004028148779508
+  }
+ ],
+ "episodes": [
+  {
+   "id": "7f236def-2527-44aa-8a63-1c1f7c433446",
+   "segment": "segment1",
+   "action": "P36",
+   "quality": "valid",
+   "start_s": 1.814,
+   "end_s": 130.057,
+   "t_start": 1.854,
+   "t_end": 130.097,
+   "instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop."
+  }
+ ]
+}

actions/locomotion_primitives/P36/session_084/cameras/gsi_online_calibration.json

@@ -0,0 +1,251 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.379
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.5337,
+   "gate_fail": [],
+   "held_out_px_after": 0.523,
+   "held_out_px_before": 11.267,
+   "inliers": 935,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.1897,
+    -0.2277,
+    -0.9407
+   ],
+   "split_deg": 0.0668,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.2701,
+   "gate_fail": [],
+   "held_out_px_after": 1.26,
+   "held_out_px_before": 6.542,
+   "inliers": 1098,
+   "position_fitted": true,
+   "position_mm": [
+    12.43,
+    -39.4,
+    -21.21
+   ],
+   "position_sigma_mm": 0.776,
+   "position_split_mm": 9.978,
+   "rotvec_deg": [
+    1.1805,
+    -1.0421,
+    1.6351
+   ],
+   "split_deg": 0.2577,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.6394,
+   "gate_fail": [],
+   "held_out_px_after": 0.555,
+   "held_out_px_before": 10.997,
+   "inliers": 1252,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.6756,
+    -1.3786,
+    2.9219
+   ],
+   "split_deg": 0.0359,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 3.228,
+   "gate_fail": [],
+   "held_out_px_after": 0.41,
+   "held_out_px_before": 7.169,
+   "inliers": 1740,
+   "position_fitted": true,
+   "position_mm": [
+    -0.05,
+    -18.73,
+    -3.07
+   ],
+   "position_sigma_mm": 0.347,
+   "position_split_mm": 0.711,
+   "rotvec_deg": [
+    1.9157,
+    -1.1647,
+    2.3224
+   ],
+   "split_deg": 0.0289,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.425,
+   "gate_fail": [],
+   "held_out_px_after": 0.361,
+   "held_out_px_before": 2.328,
+   "inliers": 3279,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.234,
+    -0.3536,
+    0.0292
+   ],
+   "split_deg": 0.0665,
+   "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": "b681a2b06d691d34a8c1a0ba86ccf2d213c02cac1abd472a585d46e4f9ca55de",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "caf0ee33ad5b080d6b3bb76ca5887550401d42776f044c671f4df79966b115ff",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "3708728a3b5ade8bddb4c1807836c704c3c838510d352ca5167567e63803a5e2",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "09165aa11feae7ee248427fcecb5724070886ad3b654f2c63bc9f3e7ac1ddf51",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "85d3d1f7ad1b21a1",
+ "kind": "online_calibration",
+ "output_sha256": "7579806354954e4843566a4f18ebfd0f1a4174c44e186cc9bb15f30a5ae52577",
+ "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": 42.657,
+  "left_eye": 35.958,
+  "left_front": 48.483,
+  "right": 39.415,
+  "right_eye": 35.817,
+  "right_front": 48.081
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   8134244685888,
+   8135244685888,
+   8136244663666,
+   8139244785888,
+   8140244685888,
+   8147244808111,
+   8148244797000,
+   8150244808111,
+   8151244685888,
+   8154244741444,
+   8155244674777,
+   8160244697000,
+   8161244674777,
+   8163244697000,
+   8164244685888,
+   8167244697000,
+   8168244663666,
+   8171244697000,
+   8172244685888,
+   8177244697000,
+   8178244808111,
+   8179244697000,
+   8185244685888,
+   8186244697000,
+   8187244697000,
+   8193244674777,
+   8195244697000,
+   8196244752555,
+   8203244685888,
+   8204244674777,
+   8205244697000,
+   8211244741444,
+   8213244685888,
+   8216244674777,
+   8218244674777,
+   8219244685888,
+   8223244697000,
+   8224244708111,
+   8228244697000,
+   8229244685888,
+   8233244808111,
+   8234244808111,
+   8236244697000,
+   8238244685888,
+   8241244685888,
+   8242244697000,
+   8243244685888,
+   8250244674777,
+   8251244697000,
+   8252244697000,
+   8257244697000,
+   8258244685888
+  ]
+ },
+ "version": 1
+}

actions/locomotion_primitives/P36/session_084/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30f1cb5c3d3ac4cf3af08cd174f7d7f01102600501e1b88a7012811ce1ec45f5
+size 767350

actions/locomotion_primitives/P36/session_084/meta.json

@@ -376,8 +376,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -522,10 +522,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 26.64,
+    "offset_rotvec": [
+     0.174,
+     -0.424,
+     -0.0788
+    ],
+    "dev_deg": {
+     "median": 18.05,
+     "p90": 40.4
+    },
+    "samples": 2054,
+    "accepted": 1588,
+    "wrist_pos_err_mm_median": 115.7,
+    "per_camera": {
+     "head": {
+      "samples": 2054,
+      "accepted": 1588,
+      "gate_deg": 30.0,
+      "offset_deg": 26.64,
+      "tier": "primary",
+      "dev_deg_median": 18.05,
+      "wrist_pos_err_mm_median": 115.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 6860,
+     "interpolated": 8056,
+     "mean_hand": 1048,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9344,
+    "observed_fraction_of_valid": 0.9344,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 34.89,
+     "smplx": 0.93
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 4.9,
+      "p90": 6.7
+     },
+     "registered": {
+      "median": 6.7,
+      "p90": 8.8
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 40.66,
+    "offset_rotvec": [
+     0.617,
+     0.3222,
+     0.1382
+    ],
+    "dev_deg": {
+     "median": 17.07,
+     "p90": 36.66
+    },
+    "samples": 2273,
+    "accepted": 1871,
+    "wrist_pos_err_mm_median": 106.7,
+    "per_camera": {
+     "head": {
+      "samples": 2273,
+      "accepted": 1871,
+      "gate_deg": 30.0,
+      "offset_deg": 40.66,
+      "tier": "primary",
+      "dev_deg_median": 17.07,
+      "wrist_pos_err_mm_median": 106.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 8008,
+     "interpolated": 7452,
+     "mean_hand": 504,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9684,
+    "observed_fraction_of_valid": 0.9684,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 45.65,
+     "smplx": 0.54
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 15.3,
+      "p90": 20.7
+     },
+     "registered": {
+      "median": 15.2,
+      "p90": 20.2
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:38:42.963581+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/P36/session_084",
   "family": "locomotion_primitives",
   "primitive": "P36",
   "source_session": "20261017/P36/20261017_025430_session31"
+ },
+ "task": {
+  "primitive": "P36",
+  "instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop."
  }
 }