Release update 2026-11-05: 5760 sessions, instructions, annotations (part 144)

actions/human_human_locomanipulation/HH13/session_009/annotations.json

@@ -0,0 +1,83 @@
+{
+ "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": "HH13",
+ "instruction": "Take the objects off the shelf one at a time, carry each one to your partner and hand it over, then go back for the next one. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 151.100067,
+   "video": "left_eye",
+   "video_t_start": 0.031143698193996636
+  }
+ ],
+ "episodes": [
+  {
+   "id": "ad22a143-dcbf-4cc3-ac82-258fcd015995",
+   "segment": "segment1",
+   "action": "HH13",
+   "quality": "valid",
+   "start_s": 1.654,
+   "end_s": 24.481,
+   "t_start": 1.6851,
+   "t_end": 24.5121,
+   "instruction": "Take the objects off the shelf one at a time, carry each one to your partner and hand it over, then go back for the next one. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "907960ee-fced-4e93-8f56-3ad989a68c4e",
+   "segment": "segment1",
+   "action": "HH13",
+   "quality": "valid",
+   "start_s": 29.221,
+   "end_s": 48.752,
+   "t_start": 29.2521,
+   "t_end": 48.7831,
+   "instruction": "Take the objects off the shelf one at a time, carry each one to your partner and hand it over, then go back for the next one. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "e9337bb2-0186-41a9-a5fa-1071f34bb7c1",
+   "segment": "segment1",
+   "action": "HH13",
+   "quality": "valid",
+   "start_s": 53.646,
+   "end_s": 73.862,
+   "t_start": 53.6771,
+   "t_end": 73.8931,
+   "instruction": "Take the objects off the shelf one at a time, carry each one to your partner and hand it over, then go back for the next one. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "2ac269ef-e47c-4974-9786-581c1cdfbb21",
+   "segment": "segment1",
+   "action": "HH13",
+   "quality": "valid",
+   "start_s": 78.024,
+   "end_s": 96.592,
+   "t_start": 78.0551,
+   "t_end": 96.6231,
+   "instruction": "Take the objects off the shelf one at a time, carry each one to your partner and hand it over, then go back for the next one. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "28b7f477-5780-402d-92d5-af7f2487f481",
+   "segment": "segment1",
+   "action": "HH13",
+   "quality": "valid",
+   "start_s": 101.449,
+   "end_s": 119.506,
+   "t_start": 101.4801,
+   "t_end": 119.5371,
+   "instruction": "Take the objects off the shelf one at a time, carry each one to your partner and hand it over, then go back for the next one. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "5b8a3b85-4cf7-4af3-8edf-34ad7e2821a9",
+   "segment": "segment1",
+   "action": "HH13",
+   "quality": "valid",
+   "start_s": 122.773,
+   "end_s": 144.55,
+   "t_start": 122.8041,
+   "t_end": 144.5811,
+   "instruction": "Take the objects off the shelf one at a time, carry each one to your partner and hand it over, then go back for the next one. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  }
+ ]
+}

actions/human_human_locomanipulation/HH13/session_009/cameras/gsi_online_calibration.json

@@ -0,0 +1,266 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 175,
+    "median_px": 5.14,
+    "pair": [
+     "left_eye",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 13,
+  "median_px": 0.479
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.7427,
+   "gate_fail": [],
+   "held_out_px_after": 0.567,
+   "held_out_px_before": 21.013,
+   "inliers": 2566,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.3596,
+    -0.2164,
+    -1.0686
+   ],
+   "split_deg": 0.0351,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 2.5697,
+   "gate_fail": [],
+   "held_out_px_after": 0.971,
+   "held_out_px_before": 7.122,
+   "inliers": 3251,
+   "position_fitted": false,
+   "position_rejected": {
+    "position_mm": [
+     0.76,
+     -31.95,
+     -7.25
+    ],
+    "position_sigma_mm": 0.444,
+    "position_split_mm": 16.459
+   },
+   "rotvec_deg": [
+    1.7095,
+    -0.8176,
+    1.7356
+   ],
+   "split_deg": 0.132,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye"
+   ],
+   "delta_deg": 3.5662,
+   "gate_fail": [],
+   "held_out_px_after": 0.553,
+   "held_out_px_before": 13.293,
+   "inliers": 1000,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.7122,
+    -1.1714,
+    2.9006
+   ],
+   "split_deg": 0.1032,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.9543,
+   "gate_fail": [],
+   "held_out_px_after": 0.482,
+   "held_out_px_before": 5.59,
+   "inliers": 4187,
+   "position_fitted": true,
+   "position_mm": [
+    4.83,
+    -14.17,
+    -4.55
+   ],
+   "position_sigma_mm": 0.271,
+   "position_split_mm": 2.949,
+   "rotvec_deg": [
+    1.7951,
+    -1.3821,
+    1.8962
+   ],
+   "split_deg": 0.0923,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.6177,
+   "gate_fail": [],
+   "held_out_px_after": 0.377,
+   "held_out_px_before": 3.51,
+   "inliers": 4395,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.239,
+    -0.4483,
+    -0.3513
+   ],
+   "split_deg": 0.0122,
+   "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": "9993c790ba7ad49a1d796c0bd57f818ea268a09ffb06b7a506776796c6413f5a",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "ee91f62076d06c95c9a04aeea209f0c89542ae195b6f7d6df1e4dfea167f53b2",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "52a7f2a4dd6466582c5b373b0c3224e0ab1a903189a2639462ac7561c6aa9799",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "8ee325e147a6663f841a0e88de9fd9d7b79523e8049ea512d226199bc892062d",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "69f3ec521fa89ffd",
+ "kind": "online_calibration",
+ "output_sha256": "3a8ea8b0c1b56a6cf1fb6d3b52f73c4432676a3b3c0022789803c1ed9d1e698b",
+ "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": 41.577,
+  "left_eye": 40.705,
+  "left_front": 45.191,
+  "right": 39.566,
+  "right_eye": 41.639,
+  "right_front": 43.705
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   10301596480333,
+   10302596480333,
+   10308596458111,
+   10309596580333,
+   10314596458111,
+   10315596458111,
+   10316596435888,
+   10317596458111,
+   10324596435888,
+   10325596458111,
+   10329596502555,
+   10330596435888,
+   10334596469222,
+   10335596458111,
+   10336596458111,
+   10337596435888,
+   10344596458111,
+   10345596469222,
+   10348596435888,
+   10349596447000,
+   10352596458111,
+   10353596447000,
+   10359596435888,
+   10360596435888,
+   10362596447000,
+   10363596435888,
+   10367596435888,
+   10368596513666,
+   10375596458111,
+   10376596435888,
+   10377596524777,
+   10382596447000,
+   10383596458111,
+   10386596458111,
+   10387596458111,
+   10395596435888,
+   10396596458111,
+   10397596458111,
+   10405596435888,
+   10406596435888,
+   10410596458111,
+   10411596580333,
+   10414596458111,
+   10415596458111,
+   10420596435888,
+   10421596447000,
+   10425596480333,
+   10426596458111,
+   10430596435888,
+   10431596469222,
+   10435596458111,
+   10436596435888,
+   10439596447000,
+   10440596469222,
+   10443596447000,
+   10444596435888,
+   10448596469222,
+   10449596524777
+  ]
+ },
+ "version": 1
+}

actions/human_human_locomanipulation/HH13/session_009/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9768665d705fd5160342a9cba4b0e0b892f68eb619f09c9b7bb2b6f51b03109e
+size 869191

actions/human_human_locomanipulation/HH13/session_009/meta.json

@@ -288,44 +288,44 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
  "canonical": {
-  "generated_at_utc": "2026-10-27T06:43:08.517266+00:00",
+  "generated_at_utc": "2026-10-28T23:22:15.477888+00:00",
   "generated_by": "scripts/canonicalise_dataset.py",
   "frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
   "R_canon_nokov": [
    [
-    0.9999374706,
-    0.0111827925,
-    -4.351e-06
+    0.9999789449,
+    0.0064891782,
+    1.5185e-05
    ],
    [
-    4.351e-06,
-    -0.0007781413,
-    -0.9999996972
+    -1.5185e-05,
+    0.0046800169,
+    -0.9999890485
    ],
    [
-    -0.0111827925,
-    0.9999371678,
-    -0.0007781413
+    -0.0064891782,
+    0.9999679935,
+    0.0046800169
    ]
   ],
   "scale_nokov_to_canon": 0.001,
   "T_canon_nokov_mm": [
    [
-    0.000999937471,
-    1.1182793e-05,
-    -4.351e-09,
+    0.000999978945,
+    6.489178e-06,
+    1.5185e-08,
     0.0
    ],
    [
-    4.351e-09,
-    -7.78141e-07,
-    -0.000999999697,
+    -1.5185e-08,
+    4.680017e-06,
+    -0.000999989049,
     0.0
    ],
    [
-    -1.1182793e-05,
-    0.000999937168,
-    -7.78141e-07,
+    -6.489178e-06,
+    0.000999967993,
+    4.680017e-06,
     0.0
    ],
    [
@@ -337,20 +337,20 @@
   ],
   "block": "20261026-afternoon",
   "block_assignment": "trc",
-  "tilt_removed_deg": 0.6422895637056524,
+  "tilt_removed_deg": 0.458414067009704,
   "plane_status": "ok",
   "floor": {
-   "sole_marker_p1_mm": 29.2,
-   "headtop_p95_mm": 1621.7
+   "sole_marker_p1_mm": 29.5,
+   "headtop_p95_mm": 1629.0
   },
   "gravity_check": {
    "static_samples": 1853,
    "g_world_mean_m_s2": [
-    -0.064,
-    0.0547,
-    9.7849
+    -0.1099,
+    0.1081,
+    9.7841
    ],
-   "tilt_from_z_deg": 0.493,
+   "tilt_from_z_deg": 0.903,
    "tilt_from_z_deg_before_levelling": 1.079,
    "magnitude_m_s2": 9.7853
   },
@@ -370,7 +370,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-27T20:54:19.842936+00:00",
+  "generated_at_utc": "2026-10-29T04:55:14.711228+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -428,8 +428,8 @@
   "valid_fraction": 1.0,
   "qc": {
    "lowest_vertex_mm": {
-    "median": 0.2,
-    "p5": -5.4
+    "median": 5.4,
+    "p5": -5.2
    },
    "frames_checked": 605,
    "stature_mm": 1627.7
@@ -444,19 +444,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 0.0,
+    "Q_deg": 122.31,
     "Q_rotvec": [
-     -0.0,
-     -0.0,
-     0.0
+     -2.12625,
+     0.13518,
+     0.13412
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 26.8,
-    "opposite_sign_bend_deg": 166.8,
+    "wrist_bend_deg_median": 133.7,
+    "opposite_sign_bend_deg": 56.5,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 7.66,
     "hand_vs_marker_frame_deg": {
-     "before": 7.66,
+     "before": 124.52,
      "after": 7.66
     },
     "markers_on_wrist": [
@@ -464,12 +464,12 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -0.2,
+     "twist_moved_deg": -126.8,
      "wrist_twist_deg_after": {
-      "median": 0.0,
+      "median": -0.2,
       "iqr": [
-       -15.7,
-       9.9
+       -15.9,
+       9.7
       ]
      },
      "wrist_total_deg_median_after": 26.8,
@@ -483,19 +483,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 0.0,
+    "Q_deg": 87.73,
     "Q_rotvec": [
-     0.0,
-     0.0,
-     -0.0
+     1.43563,
+     0.52374,
+     0.09468
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 21.2,
-    "opposite_sign_bend_deg": 177.5,
+    "wrist_bend_deg_median": 64.2,
+    "opposite_sign_bend_deg": 122.5,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.07,
     "hand_vs_marker_frame_deg": {
-     "before": 2.07,
+     "before": 87.52,
      "after": 2.07
     },
     "markers_on_wrist": [
@@ -504,7 +504,7 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -0.0,
+     "twist_moved_deg": -60.92,
      "wrist_twist_deg_after": {
       "median": -0.0,
       "iqr": [
@@ -521,7 +521,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-28T06:50:31.678147+00:00",
+   "generated_at_utc": "2026-10-29T04:55:17.849377+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -578,6 +578,10 @@
   "primitive": "HH13",
   "source_session": "20261026/HH13/20261026_074514_session42"
  },
+ "task": {
+  "primitive": "HH13",
+  "instruction": "Take the objects off the shelf one at a time, carry each one to your partner and hand it over, then go back for the next one. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+ },
  "objects": [
   {
    "name": "LittleBox1",

actions/human_human_locomanipulation/HH13/session_009/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62aec77192b799c86929829a263d6ce1d9fbbfb44ebc5ee21af089f47527234f
+size 5334351

actions/human_human_locomanipulation/HH13/session_009/motions/head_rig.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:140925bcb8198e864623330a0411c397314c2aacc55b9f3c5ddb73e03e40d26a
-size 1346837
+oid sha256:fd1e19d83184df24a308effe995acccf979e8b497e61cb784c1b88876eff7776
+size 1347082

actions/human_human_locomanipulation/HH13/session_009/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b18cdb1117fd723b1a82dd7bbc35a108d939fbd3edf43544207b855564697092
-size 6977190
+oid sha256:77a028179662070133b4b2d40746da8cf609ca08e4001e042402d006817f39de
+size 6977713

actions/human_human_locomanipulation/HH13/session_010/annotations.json

@@ -0,0 +1,83 @@
+{
+ "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": "HH13",
+ "instruction": "Take the objects off the shelf one at a time, carry each one to your partner and hand it over, then go back for the next one. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 108.7668,
+   "video": "left_eye",
+   "video_t_start": -0.002278544616529758
+  }
+ ],
+ "episodes": [
+  {
+   "id": "1c41c704-7e2b-4f72-8e95-60d2c8ac0e41",
+   "segment": "segment1",
+   "action": "HH13",
+   "quality": "valid",
+   "start_s": 1.609,
+   "end_s": 15.257,
+   "t_start": 1.6067,
+   "t_end": 15.2547,
+   "instruction": "Take the objects off the shelf one at a time, carry each one to your partner and hand it over, then go back for the next one. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "79657e2c-8dd3-44e3-a809-d5caaa12fbfc",
+   "segment": "segment1",
+   "action": "HH13",
+   "quality": "valid",
+   "start_s": 19.6,
+   "end_s": 36.546,
+   "t_start": 19.5977,
+   "t_end": 36.5437,
+   "instruction": "Take the objects off the shelf one at a time, carry each one to your partner and hand it over, then go back for the next one. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "332375a3-bc7a-4686-92e8-4f8ceddd4090",
+   "segment": "segment1",
+   "action": "HH13",
+   "quality": "valid",
+   "start_s": 39.21,
+   "end_s": 53.185,
+   "t_start": 39.2077,
+   "t_end": 53.1827,
+   "instruction": "Take the objects off the shelf one at a time, carry each one to your partner and hand it over, then go back for the next one. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "32179cbc-084b-4b26-b2a4-87b2e8021dd8",
+   "segment": "segment1",
+   "action": "HH13",
+   "quality": "valid",
+   "start_s": 54.737,
+   "end_s": 70.246,
+   "t_start": 54.7347,
+   "t_end": 70.2437,
+   "instruction": "Take the objects off the shelf one at a time, carry each one to your partner and hand it over, then go back for the next one. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "db9c39a5-d890-49bc-9bde-0b75a4d731df",
+   "segment": "segment1",
+   "action": "HH13",
+   "quality": "valid",
+   "start_s": 72.072,
+   "end_s": 87.164,
+   "t_start": 72.0697,
+   "t_end": 87.1617,
+   "instruction": "Take the objects off the shelf one at a time, carry each one to your partner and hand it over, then go back for the next one. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "7f3ebb2b-4c45-464b-984f-8678e9a91ff9",
+   "segment": "segment1",
+   "action": "HH13",
+   "quality": "valid",
+   "start_s": 88.454,
+   "end_s": 100.977,
+   "t_start": 88.4517,
+   "t_end": 100.9747,
+   "instruction": "Take the objects off the shelf one at a time, carry each one to your partner and hand it over, then go back for the next one. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  }
+ ]
+}

actions/human_human_locomanipulation/HH13/session_010/cameras/gsi_online_calibration.json

@@ -0,0 +1,255 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.373
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.7455,
+   "gate_fail": [],
+   "held_out_px_after": 0.457,
+   "held_out_px_before": 21.213,
+   "inliers": 2123,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.1585,
+    -0.2189,
+    -1.287
+   ],
+   "split_deg": 0.048,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.2323,
+   "gate_fail": [],
+   "held_out_px_after": 0.428,
+   "held_out_px_before": 8.842,
+   "inliers": 3834,
+   "position_fitted": true,
+   "position_mm": [
+    1.17,
+    -26.79,
+    -3.68
+   ],
+   "position_sigma_mm": 0.183,
+   "position_split_mm": 4.366,
+   "rotvec_deg": [
+    1.6183,
+    -0.7764,
+    1.3272
+   ],
+   "split_deg": 0.0985,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 4.0868,
+   "gate_fail": [],
+   "held_out_px_after": 0.636,
+   "held_out_px_before": 13.954,
+   "inliers": 1689,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.9434,
+    -1.2529,
+    3.3698
+   ],
+   "split_deg": 0.1169,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.8133,
+   "gate_fail": [],
+   "held_out_px_after": 0.419,
+   "held_out_px_before": 5.633,
+   "inliers": 4181,
+   "position_fitted": true,
+   "position_mm": [
+    0.17,
+    -24.14,
+    -0.79
+   ],
+   "position_sigma_mm": 0.153,
+   "position_split_mm": 7.127,
+   "rotvec_deg": [
+    1.6026,
+    -1.314,
+    1.9026
+   ],
+   "split_deg": 0.1692,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.5798,
+   "gate_fail": [],
+   "held_out_px_after": 0.348,
+   "held_out_px_before": 2.436,
+   "inliers": 5122,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2317,
+    -0.4482,
+    -0.2856
+   ],
+   "split_deg": 0.0126,
+   "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": "a84eb61713a742fe98a4138ea8b62528e77ef282104cff7502633fa11080d1d7",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "97d6cd6f3253aec28d61609e4c261572a293493bfc593d458fedd341864516a8",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "2dd1c6636f644986a417ded8da5da09403d31ff841e5d4776b3891e8726a050b",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "2dda1a2a25c59ebd43401ee934ea7c52528c215d43cd3d9981012a11053c929d",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "37088888e8464c9a",
+ "kind": "online_calibration",
+ "output_sha256": "bf45e43e7aa1ea2a67e5bbbb4cf3650c00600f64738f12b80dd463d21cf8713e",
+ "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": 36.666,
+  "left_eye": 36.77,
+  "left_front": 41.562,
+  "right": 37.672,
+  "right_eye": 36.917,
+  "right_front": 41.256
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   11216624043888,
+   11217624077222,
+   11223624055000,
+   11224624088333,
+   11225624077222,
+   11230624055000,
+   11231624055000,
+   11233624055000,
+   11234624055000,
+   11235624043888,
+   11238624055000,
+   11239624077222,
+   11242624055000,
+   11243624043888,
+   11246624055000,
+   11247624099444,
+   11251624066111,
+   11252624055000,
+   11253624077222,
+   11254624055000,
+   11258624088333,
+   11259624055000,
+   11260624099444,
+   11261624166111,
+   11264624043888,
+   11265624077222,
+   11269624088333,
+   11270624077222,
+   11271624077222,
+   11273624121666,
+   11274624077222,
+   11277624077222,
+   11278624043888,
+   11281624188333,
+   11282624155000,
+   11286624066111,
+   11287624077222,
+   11288624088333,
+   11293624066111,
+   11294624077222,
+   11295624066111,
+   11298624121666,
+   11299624077222,
+   11303624077222,
+   11304624210555,
+   11305624055000,
+   11306624077222,
+   11310624043888,
+   11311624199444,
+   11314624055000,
+   11315624121666,
+   11316624077222,
+   11319624066111,
+   11320624188333
+  ]
+ },
+ "version": 1
+}

actions/human_human_locomanipulation/HH13/session_010/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bad18a8e1b49a10b06bac0a18f1ce4629d5635cabbaf6dfb5d7832848d77f25
+size 627799

actions/human_human_locomanipulation/HH13/session_010/meta.json

@@ -276,44 +276,44 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
  "canonical": {
-  "generated_at_utc": "2026-10-27T06:43:08.043179+00:00",
+  "generated_at_utc": "2026-10-28T23:22:15.310431+00:00",
   "generated_by": "scripts/canonicalise_dataset.py",
   "frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
   "R_canon_nokov": [
    [
-    0.9999374706,
-    0.0111827925,
-    -4.351e-06
+    0.9999789449,
+    0.0064891782,
+    1.5185e-05
    ],
    [
-    4.351e-06,
-    -0.0007781413,
-    -0.9999996972
+    -1.5185e-05,
+    0.0046800169,
+    -0.9999890485
    ],
    [
-    -0.0111827925,
-    0.9999371678,
-    -0.0007781413
+    -0.0064891782,
+    0.9999679935,
+    0.0046800169
    ]
   ],
   "scale_nokov_to_canon": 0.001,
   "T_canon_nokov_mm": [
    [
-    0.000999937471,
-    1.1182793e-05,
-    -4.351e-09,
+    0.000999978945,
+    6.489178e-06,
+    1.5185e-08,
     0.0
    ],
    [
-    4.351e-09,
-    -7.78141e-07,
-    -0.000999999697,
+    -1.5185e-08,
+    4.680017e-06,
+    -0.000999989049,
     0.0
    ],
    [
-    -1.1182793e-05,
-    0.000999937168,
-    -7.78141e-07,
+    -6.489178e-06,
+    0.000999967993,
+    4.680017e-06,
     0.0
    ],
    [
@@ -325,20 +325,20 @@
   ],
   "block": "20261026-afternoon",
   "block_assignment": "trc",
-  "tilt_removed_deg": 0.6422895637056524,
+  "tilt_removed_deg": 0.458414067009704,
   "plane_status": "ok",
   "floor": {
-   "sole_marker_p1_mm": 36.1,
-   "headtop_p95_mm": 1562.8
+   "sole_marker_p1_mm": 37.8,
+   "headtop_p95_mm": 1567.4
   },
   "gravity_check": {
    "static_samples": 3139,
    "g_world_mean_m_s2": [
-    0.0903,
-    0.043,
-    9.7778
+    0.0444,
+    0.0964,
+    9.7777
    ],
-   "tilt_from_z_deg": 0.586,
+   "tilt_from_z_deg": 0.622,
    "tilt_from_z_deg_before_levelling": 0.317,
    "magnitude_m_s2": 9.7783
   },
@@ -358,7 +358,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-27T07:52:13.695578+00:00",
+  "generated_at_utc": "2026-10-29T04:54:26.758303+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -367,8 +367,8 @@
   "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": {
@@ -416,8 +416,8 @@
   "valid_fraction": 1.0,
   "qc": {
    "lowest_vertex_mm": {
-    "median": -8.9,
-    "p5": -14.6
+    "median": -2.5,
+    "p5": -12.8
    },
    "frames_checked": 436,
    "stature_mm": 1582.0
@@ -432,19 +432,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 180.0,
+    "Q_deg": 51.12,
     "Q_rotvec": [
-     -2.98447,
-     0.44488,
-     0.87443
+     0.54683,
+     -0.66442,
+     0.23604
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 173.0,
-    "opposite_sign_bend_deg": 39.5,
+    "wrist_bend_deg_median": 75.6,
+    "opposite_sign_bend_deg": 118.0,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.2,
     "hand_vs_marker_frame_deg": {
-     "before": 178.67,
+     "before": 51.23,
      "after": 2.2
     },
     "markers_on_wrist": [
@@ -453,12 +453,12 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -172.55,
+     "twist_moved_deg": 73.7,
      "wrist_twist_deg_after": {
-      "median": -0.25,
+      "median": -0.0,
       "iqr": [
-       -2.3,
-       1.7
+       -2.1,
+       1.9
       ]
      },
      "wrist_total_deg_median_after": 17.9,
@@ -471,19 +471,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 0.0,
+    "Q_deg": 142.56,
     "Q_rotvec": [
-     -0.0,
-     0.0,
-     0.0
+     2.40017,
+     0.36156,
+     0.54689
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 17.1,
-    "opposite_sign_bend_deg": 176.6,
+    "wrist_bend_deg_median": 133.2,
+    "opposite_sign_bend_deg": 54.7,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.75,
     "hand_vs_marker_frame_deg": {
-     "before": 2.75,
+     "before": 142.45,
      "after": 2.75
     },
     "markers_on_wrist": [
@@ -491,7 +491,7 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -0.0,
+     "twist_moved_deg": -132.35,
      "wrist_twist_deg_after": {
       "median": -0.0,
       "iqr": [
@@ -509,14 +509,128 @@
     },
     "frames_used": 1306
    },
-   "generated_at_utc": "2026-10-28T06:50:32.067012+00:00",
+   "generated_at_utc": "2026-10-29T04:54:29.693616+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 6.24,
+    "offset_rotvec": [
+     0.099,
+     -0.0089,
+     -0.0443
+    ],
+    "dev_deg": {
+     "median": 17.83,
+     "p90": 37.38
+    },
+    "samples": 2873,
+    "accepted": 2406,
+    "wrist_pos_err_mm_median": 309.3,
+    "per_camera": {
+     "head": {
+      "samples": 2873,
+      "accepted": 2406,
+      "gate_deg": 30.0,
+      "offset_deg": 6.24,
+      "tier": "primary",
+      "dev_deg_median": 17.83,
+      "wrist_pos_err_mm_median": 309.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9792,
+     "interpolated": 2812,
+     "mean_hand": 451,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9655,
+    "observed_fraction_of_valid": 0.9655,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 14.57,
+     "smplx": 1.47
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 16.0,
+      "p90": 26.9
+     },
+     "registered": {
+      "median": 15.9,
+      "p90": 25.9
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 15.18,
+    "offset_rotvec": [
+     -0.181,
+     -0.1913,
+     -0.0297
+    ],
+    "dev_deg": {
+     "median": 16.87,
+     "p90": 29.02
+    },
+    "samples": 2790,
+    "accepted": 2547,
+    "wrist_pos_err_mm_median": 294.0,
+    "per_camera": {
+     "head": {
+      "samples": 2790,
+      "accepted": 2547,
+      "gate_deg": 30.0,
+      "offset_deg": 15.18,
+      "tier": "primary",
+      "dev_deg_median": 16.87,
+      "wrist_pos_err_mm_median": 294.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10386,
+     "interpolated": 2162,
+     "mean_hand": 507,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9612,
+    "observed_fraction_of_valid": 0.9612,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 22.81,
+     "smplx": 1.43
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 16.5,
+      "p90": 27.5
+     },
+     "registered": {
+      "median": 16.0,
+      "p90": 26.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:32:01.549871+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/human_human_locomanipulation/HH13/session_010",
   "family": "human_human_locomanipulation",
   "primitive": "HH13",
   "source_session": "20261026/HH13/20261026_080029_session44"
+ },
+ "task": {
+  "primitive": "HH13",
+  "instruction": "Take the objects off the shelf one at a time, carry each one to your partner and hand it over, then go back for the next one. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
  }
 }

actions/human_human_locomanipulation/HH13/session_010/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3caaf8fdd8e629b502393f1752ae44b11b18fc82d5eeb42dc7f299565e9ec9a
+size 3843500

actions/human_human_locomanipulation/HH13/session_010/motions/head_rig.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:51d5bcfdb1169005ff502b26282346b4af1d4d82c1526df70f6ed4790a3cf46a
-size 968232
+oid sha256:33b59d06bdf508e3371c0def625a5b274ee05e2fb3e3c375d01ae96b6408c4b9
+size 968239

actions/human_human_locomanipulation/HH13/session_010/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:26f1f18609a97cecb6dd9432009366fa7bf5a58c2a6d27c181cc06ed2add4311
-size 5003962
+oid sha256:21d1191b150e1a77b88178fd41b8cc2e9594f60817335aa12249675025c1d54b
+size 9289139