Release update 2026-11-05: 5760 sessions, instructions, annotations (part 142)

actions/human_human_locomanipulation/HH13/session_006/cameras/gsi_online_calibration.json

@@ -0,0 +1,256 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.39
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.7785,
+   "gate_fail": [],
+   "held_out_px_after": 0.423,
+   "held_out_px_before": 21.567,
+   "inliers": 2632,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.2104,
+    -0.3361,
+    -1.2589
+   ],
+   "split_deg": 0.043,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.4457,
+   "gate_fail": [],
+   "held_out_px_after": 0.489,
+   "held_out_px_before": 9.886,
+   "inliers": 4055,
+   "position_fitted": true,
+   "position_mm": [
+    1.73,
+    -25.79,
+    -1.78
+   ],
+   "position_sigma_mm": 0.201,
+   "position_split_mm": 4.065,
+   "rotvec_deg": [
+    1.7458,
+    -0.9329,
+    1.4365
+   ],
+   "split_deg": 0.0688,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 3.8718,
+   "gate_fail": [],
+   "held_out_px_after": 0.759,
+   "held_out_px_before": 14.511,
+   "inliers": 1348,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.8124,
+    -1.1996,
+    3.2042
+   ],
+   "split_deg": 0.1731,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 3.0553,
+   "gate_fail": [],
+   "held_out_px_after": 0.425,
+   "held_out_px_before": 4.461,
+   "inliers": 4094,
+   "position_fitted": true,
+   "position_mm": [
+    2.67,
+    -17.39,
+    -1.72
+   ],
+   "position_sigma_mm": 0.245,
+   "position_split_mm": 2.69,
+   "rotvec_deg": [
+    1.8733,
+    -1.3872,
+    1.9752
+   ],
+   "split_deg": 0.0871,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.5733,
+   "gate_fail": [],
+   "held_out_px_after": 0.369,
+   "held_out_px_before": 3.614,
+   "inliers": 3795,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2295,
+    -0.4939,
+    -0.1792
+   ],
+   "split_deg": 0.0382,
+   "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": "2cf14c846d7b15cb345a149dcd4f8122f822c1dba1b32daec69a67059500ab5a",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "e88926582043ff71f764cc55c9a7393b2073dcbdace1ebba7b192bdf90802cc0",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "deced404d7e43ff8c4dd3faa9c49b66aef35c33d2c9f930413bbfed0f9927214",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "de50ad35ef694172796051da3bfe50cdc9bc3280aff4de91ac6b30dbcd2dabd6",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "2238e66b4a6a243d",
+ "kind": "online_calibration",
+ "output_sha256": "97dfdb1d900cfda016228e19ed92a52eee16db1d97db4fa649d92a21bd0b2d16",
+ "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": 40.435,
+  "left_eye": 33.475,
+  "left_front": 38.274,
+  "right": 39.842,
+  "right_eye": 34.107,
+  "right_front": 36.894
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   754077263222,
+   755077374333,
+   760077263222,
+   761077252111,
+   762077241000,
+   763077307666,
+   764077241000,
+   767077241000,
+   768077263222,
+   770077274333,
+   771077274333,
+   774077396555,
+   775077274333,
+   776077285444,
+   777077285444,
+   780077396555,
+   781077274333,
+   782077274333,
+   785077263222,
+   786077274333,
+   787077441000,
+   788077263222,
+   791077252111,
+   792077274333,
+   794077407666,
+   795077252111,
+   797077285444,
+   798077252111,
+   799077285444,
+   800077274333,
+   804077263222,
+   805077252111,
+   806077241000,
+   807077263222,
+   810077241000,
+   811077274333,
+   812077263222,
+   816077285444,
+   817077274333,
+   819077318777,
+   820077329888,
+   822077396555,
+   823077252111,
+   824077252111,
+   825077274333,
+   829077252111,
+   830077252111,
+   832077241000,
+   833077318777,
+   834077252111,
+   838077252111,
+   839077252111,
+   840077274333,
+   841077274333,
+   842077252111
+  ]
+ },
+ "version": 1
+}

actions/human_human_locomanipulation/HH13/session_006/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aeb387f110e575c1dcf9d6c354405296aeb47c3f58efc147bd7fa92d2dae5974
+size 531955

actions/human_human_locomanipulation/HH13/session_006/meta.json

@@ -360,8 +360,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -514,10 +514,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 48.03,
+    "offset_rotvec": [
+     0.7637,
+     -0.2933,
+     0.1832
+    ],
+    "dev_deg": {
+     "median": 24.54,
+     "p90": 38.67
+    },
+    "samples": 2010,
+    "accepted": 1344,
+    "wrist_pos_err_mm_median": 43.3,
+    "per_camera": {
+     "head": {
+      "samples": 2010,
+      "accepted": 1344,
+      "gate_deg": 30.0,
+      "offset_deg": 48.03,
+      "tier": "primary",
+      "dev_deg_median": 24.54,
+      "wrist_pos_err_mm_median": 43.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 5628,
+     "interpolated": 4516,
+     "mean_hand": 937,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9154,
+    "observed_fraction_of_valid": 0.9154,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 50.21,
+     "smplx": 2.49
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.2,
+      "p90": 9.6
+     },
+     "registered": {
+      "median": 5.6,
+      "p90": 7.7
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 20.42,
+    "offset_rotvec": [
+     0.3163,
+     0.1612,
+     0.0321
+    ],
+    "dev_deg": {
+     "median": 16.65,
+     "p90": 35.66
+    },
+    "samples": 2060,
+    "accepted": 1704,
+    "wrist_pos_err_mm_median": 59.0,
+    "per_camera": {
+     "head": {
+      "samples": 2060,
+      "accepted": 1704,
+      "gate_deg": 30.0,
+      "offset_deg": 20.42,
+      "tier": "primary",
+      "dev_deg_median": 16.65,
+      "wrist_pos_err_mm_median": 59.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 7068,
+     "interpolated": 3688,
+     "mean_hand": 325,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9707,
+    "observed_fraction_of_valid": 0.9707,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 23.03,
+     "smplx": 1.59
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.0,
+      "p90": 12.8
+     },
+     "registered": {
+      "median": 8.5,
+      "p90": 13.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:39:27.597117+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_006",
   "family": "human_human_locomanipulation",
   "primitive": "HH13",
   "source_session": "20261024/HH13/20261024_082744_session2"
+ },
+ "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_006/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b035d135a907e0cb0e3f1254d74bdf6b043c6f78b0484c6e494fb3c50d399ee
+size 2814869

actions/human_human_locomanipulation/HH13/session_006/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3ee582054f7cc4d736fe72b135f5c22acfad227c2186125da0b19a135224eb5f
-size 4257209
+oid sha256:077a7d0839600d625f56918a3ca396f474758d4be0eed835f98b84737276c997
+size 7848613

actions/human_human_locomanipulation/HH13/session_007/cameras/gsi_online_calibration.json

@@ -0,0 +1,254 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.378
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.7911,
+   "gate_fail": [],
+   "held_out_px_after": 0.45,
+   "held_out_px_before": 20.254,
+   "inliers": 2459,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.1973,
+    -0.3588,
+    -1.2829
+   ],
+   "split_deg": 0.096,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.3928,
+   "gate_fail": [],
+   "held_out_px_after": 0.466,
+   "held_out_px_before": 9.967,
+   "inliers": 3958,
+   "position_fitted": true,
+   "position_mm": [
+    4.32,
+    -28.65,
+    -2.41
+   ],
+   "position_sigma_mm": 0.149,
+   "position_split_mm": 5.003,
+   "rotvec_deg": [
+    1.6862,
+    -0.9386,
+    1.4146
+   ],
+   "split_deg": 0.1014,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.8826,
+   "gate_fail": [],
+   "held_out_px_after": 0.772,
+   "held_out_px_before": 13.668,
+   "inliers": 1430,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.8318,
+    -1.1893,
+    3.2101
+   ],
+   "split_deg": 0.1622,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 3.0232,
+   "gate_fail": [],
+   "held_out_px_after": 0.417,
+   "held_out_px_before": 5.37,
+   "inliers": 4133,
+   "position_fitted": true,
+   "position_mm": [
+    2.27,
+    -18.69,
+    -2.39
+   ],
+   "position_sigma_mm": 0.25,
+   "position_split_mm": 5.109,
+   "rotvec_deg": [
+    1.8307,
+    -1.3953,
+    1.9599
+   ],
+   "split_deg": 0.1686,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.5652,
+   "gate_fail": [],
+   "held_out_px_after": 0.352,
+   "held_out_px_before": 3.235,
+   "inliers": 4265,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.219,
+    -0.4903,
+    -0.1764
+   ],
+   "split_deg": 0.0349,
+   "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": "ebc03cbb48d7566602787be6c6df1a066b553b4e7af6c40a176aa1af0edd5f8e",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "fb51f9c998a306bc05861a0747a9360e1444b8447f89da20d27bc718d6040556",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "6eac1a234161b2e28afe7b35af8e46899dcd0f4c4ebbc7cdaaf378060520d7f1",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "36b3b2eaffdf591097f042b93c7853da74137e0a19923e58575af65f7b00ba3a",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "73e3403a33747b03",
+ "kind": "online_calibration",
+ "output_sha256": "3645ca01add817c322e633be7c350cca58c2ff60eee2d4aec0c97dc2f6a89279",
+ "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": 39.082,
+  "left_eye": 36.986,
+  "left_front": 45.297,
+  "right": 41.05,
+  "right_eye": 37.129,
+  "right_front": 42.54
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   869356430000,
+   870356418888,
+   872356418888,
+   873356430000,
+   874356418888,
+   877356452222,
+   878356452222,
+   880356418888,
+   881356452222,
+   882356496666,
+   883356452222,
+   885356574444,
+   886356418888,
+   887356452222,
+   888356496666,
+   891356507777,
+   892356452222,
+   894356463333,
+   895356474444,
+   898356463333,
+   899356507777,
+   900356452222,
+   903356418888,
+   904356430000,
+   905356452222,
+   906356430000,
+   909356452222,
+   910356452222,
+   912356452222,
+   913356418888,
+   914356452222,
+   915356418888,
+   916356563333,
+   917356452222,
+   919356452222,
+   920356430000,
+   921356452222,
+   922356441111,
+   926356452222,
+   927356418888,
+   929356418888,
+   930356463333,
+   931356441111,
+   935356418888,
+   936356452222,
+   937356430000,
+   940356441111,
+   941356496666,
+   943356452222,
+   944356463333,
+   945356418888,
+   946356452222,
+   949356585555,
+   950356496666,
+   951356441111
+  ]
+ },
+ "version": 1
+}

actions/human_human_locomanipulation/HH13/session_007/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce75a20cb417aa15edd030ea86f88509ad5fb1f3f012881e0d6bfe62e384a8c2
+size 505342

actions/human_human_locomanipulation/HH13/session_007/meta.json

@@ -360,8 +360,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -509,12 +509,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 49.44,
+    "offset_rotvec": [
+     0.7851,
+     -0.3031,
+     0.1908
+    ],
+    "dev_deg": {
+     "median": 25.08,
+     "p90": 38.97
+    },
+    "samples": 1894,
+    "accepted": 1261,
+    "wrist_pos_err_mm_median": 58.0,
+    "per_camera": {
+     "head": {
+      "samples": 1894,
+      "accepted": 1261,
+      "gate_deg": 30.0,
+      "offset_deg": 49.44,
+      "tier": "primary",
+      "dev_deg_median": 25.08,
+      "wrist_pos_err_mm_median": 58.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 5274,
+     "interpolated": 4478,
+     "mean_hand": 760,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9277,
+    "observed_fraction_of_valid": 0.9277,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 47.48,
+     "smplx": 2.23
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 4.8,
+      "p90": 5.9
+     },
+     "registered": {
+      "median": 5.7,
+      "p90": 7.3
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 22.05,
+    "offset_rotvec": [
+     0.3348,
+     0.1879,
+     0.0254
+    ],
+    "dev_deg": {
+     "median": 14.88,
+     "p90": 33.29
+    },
+    "samples": 1884,
+    "accepted": 1622,
+    "wrist_pos_err_mm_median": 50.0,
+    "per_camera": {
+     "head": {
+      "samples": 1884,
+      "accepted": 1622,
+      "gate_deg": 30.0,
+      "offset_deg": 22.05,
+      "tier": "primary",
+      "dev_deg_median": 14.88,
+      "wrist_pos_err_mm_median": 50.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 6666,
+     "interpolated": 3242,
+     "mean_hand": 604,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9425,
+    "observed_fraction_of_valid": 0.9425,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 22.71,
+     "smplx": 1.09
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.0,
+      "p90": 12.5
+     },
+     "registered": {
+      "median": 7.7,
+      "p90": 13.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:39:32.836361+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_007",
   "family": "human_human_locomanipulation",
   "primitive": "HH13",
   "source_session": "20261024/HH13/20261024_082937_session3"
  },
+ "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_007/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b239f6cec1d48b8e46416471ca26414873b44f21132122c9455436bc1490e157
+size 2619607

actions/human_human_locomanipulation/HH13/session_007/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7b7da4a23c08f4977e42a9d4afe10a18165340671486345069855648cc854373
-size 4051377
+oid sha256:613bc77bcd0ec70681fe3f428d577e62e529fa09b30b9b6352bfb49eac4f9019
+size 7449418