Release update 2026-11-05: 5760 sessions, instructions, annotations (part 129)

actions/human_human_locomanipulation/HH06/session_002/annotations.json

@@ -0,0 +1,39 @@
+{
+ "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": "HH06",
+ "instruction": "Hand the object to your partner. They will be looking away, so you will have to get their attention and place it into their hand. 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": 130.8666,
+   "video": "left_eye",
+   "video_t_start": 0.03988090846425432
+  }
+ ],
+ "episodes": [
+  {
+   "id": "e3c864a8-d390-455d-9af2-e4eeb2127305",
+   "segment": "segment1",
+   "action": "HH06",
+   "quality": "valid",
+   "start_s": 0.64,
+   "end_s": 68.78,
+   "t_start": 0.6799,
+   "t_end": 68.8199,
+   "instruction": "Hand the object to your partner. They will be looking away, so you will have to get their attention and place it into their hand. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "d4b12b36-c533-43a3-9e5d-da25a4ec8dcf",
+   "segment": "segment1",
+   "action": "HH06",
+   "quality": "valid",
+   "start_s": 68.78,
+   "end_s": 128.374,
+   "t_start": 68.8199,
+   "t_end": 128.4139,
+   "instruction": "Hand the object to your partner. They will be looking away, so you will have to get their attention and place it into their hand. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  }
+ ]
+}

actions/human_human_locomanipulation/HH06/session_002/cameras/gsi_online_calibration.json

@@ -0,0 +1,210 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.304
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.6711,
+   "gate_fail": [],
+   "held_out_px_after": 0.325,
+   "held_out_px_before": 28.305,
+   "inliers": 1969,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.3213,
+    -0.2521,
+    -0.9915
+   ],
+   "split_deg": 0.0237,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.4443,
+   "gate_fail": [],
+   "held_out_px_after": 0.355,
+   "held_out_px_before": 9.587,
+   "inliers": 3879,
+   "position_fitted": true,
+   "position_mm": [
+    5.83,
+    -29.45,
+    -5.03
+   ],
+   "position_sigma_mm": 0.231,
+   "position_split_mm": 3.43,
+   "rotvec_deg": [
+    1.5879,
+    -0.8294,
+    1.6629
+   ],
+   "split_deg": 0.0398,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 3.8023,
+   "gate_fail": [],
+   "held_out_px_after": 0.694,
+   "held_out_px_before": 7.753,
+   "inliers": 798,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.6638,
+    -0.9857,
+    3.2737
+   ],
+   "split_deg": 0.2275,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 3.2137,
+   "gate_fail": [],
+   "held_out_px_after": 0.33,
+   "held_out_px_before": 5.231,
+   "inliers": 3824,
+   "position_fitted": true,
+   "position_mm": [
+    0.11,
+    -17.1,
+    -2.27
+   ],
+   "position_sigma_mm": 0.336,
+   "position_split_mm": 3.52,
+   "rotvec_deg": [
+    1.8569,
+    -1.1921,
+    2.3364
+   ],
+   "split_deg": 0.089,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.4801,
+   "gate_fail": [],
+   "held_out_px_after": 0.272,
+   "held_out_px_before": 2.242,
+   "inliers": 4735,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.202,
+    -0.4353,
+    -0.0139
+   ],
+   "split_deg": 0.015,
+   "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": "1210a31612194672be3a87ac93c49902732f179046a695dc0bff98d0100474a3",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "1b116b2449b7961d459d17b76c6f631784d080854d1dbc8d0d62918ef6db6303",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "e23f72709e796abb24c03e388a6fb5850a6f1eaf98b925749d8d64cfb3560653",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "f4f4549257a24e39554113dbc0c711ef301df571eb05f5296c9d4fbfb2dda323",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "bc414457912f60b9",
+ "kind": "online_calibration",
+ "output_sha256": "2bd9d8c34281d44ab54fd187e2e7836ef7c0b1efff45c9ec0f46ded5041448af",
+ "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": 16.572,
+  "left_eye": 10.482,
+  "left_front": 20.863,
+  "right": 9.537,
+  "right_eye": 10.508,
+  "right_front": 20.836
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   5621188351111,
+   5622188351111,
+   5623188428888,
+   5624188328888,
+   5625188317777,
+   5626188284444,
+   5627188328888,
+   5628188440000,
+   5629188284444
+  ]
+ },
+ "version": 1
+}

actions/human_human_locomanipulation/HH06/session_002/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24c40e968a8f481e2d5738ce037e89d486a5d94921d20fcb0116507669dd26a0
+size 751606

actions/human_human_locomanipulation/HH06/session_002/meta.json

@@ -348,8 +348,8 @@
   "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": {
@@ -671,12 +671,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 11.11,
+    "offset_rotvec": [
+     -0.0711,
+     -0.1489,
+     0.1021
+    ],
+    "dev_deg": {
+     "median": 11.04,
+     "p90": 26.16
+    },
+    "samples": 3301,
+    "accepted": 3049,
+    "wrist_pos_err_mm_median": 47.3,
+    "per_camera": {
+     "head": {
+      "samples": 3301,
+      "accepted": 3049,
+      "gate_deg": 30.0,
+      "offset_deg": 11.11,
+      "tier": "primary",
+      "dev_deg_median": 11.04,
+      "wrist_pos_err_mm_median": 47.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12290,
+     "interpolated": 1606,
+     "mean_hand": 1809,
+     "no_body_fit": 7
+    },
+    "observed_fraction": 0.8844,
+    "observed_fraction_of_valid": 0.8848,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.65,
+     "smplx": 1.48
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.6,
+      "p90": 14.8
+     },
+     "registered": {
+      "median": 8.6,
+      "p90": 11.6
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 6.54,
+    "offset_rotvec": [
+     -0.087,
+     -0.0491,
+     -0.0553
+    ],
+    "dev_deg": {
+     "median": 11.28,
+     "p90": 22.73
+    },
+    "samples": 3594,
+    "accepted": 3425,
+    "wrist_pos_err_mm_median": 53.6,
+    "per_camera": {
+     "head": {
+      "samples": 3594,
+      "accepted": 3425,
+      "gate_deg": 30.0,
+      "offset_deg": 6.54,
+      "tier": "primary",
+      "dev_deg_median": 11.28,
+      "wrist_pos_err_mm_median": 53.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13812,
+     "interpolated": 1576,
+     "mean_hand": 317,
+     "no_body_fit": 7
+    },
+    "observed_fraction": 0.9794,
+    "observed_fraction_of_valid": 0.9798,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 9.4,
+     "smplx": 2.17
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 20.1,
+      "p90": 25.8
+     },
+     "registered": {
+      "median": 17.9,
+      "p90": 23.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T20:31:18.911370+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/HH06/session_002",
   "family": "human_human_locomanipulation",
   "primitive": "HH06",
   "source_session": "20261020/HH06/20261020_073707_session14"
  },
+ "task": {
+  "primitive": "HH06",
+  "instruction": "Hand the object to your partner. They will be looking away, so you will have to get their attention and place it into their hand. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+ },
  "objects": [
   {
    "name": "LittleBox4",

actions/human_human_locomanipulation/HH06/session_002/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f71f503679607ecee4ff3d2c828de91f0ae366bcd042fbaacd01529d44ef299
+size 4705690

actions/human_human_locomanipulation/HH06/session_002/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4485de1db89044ab2ddaa37cd125b925164524f1cbb78c3260c2b0e73f847a25
-size 5998699
+oid sha256:9197a2b8a78786d79411ac24f48f1b5f98ab79af2fb7b287df3e8856e76f8c0d
+size 11004072

actions/human_human_locomanipulation/HH06/session_003/annotations.json

@@ -0,0 +1,39 @@
+{
+ "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": "HH06",
+ "instruction": "Hand the object to your partner. They will be looking away, so you will have to get their attention and place it into their hand. 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": 130.699956,
+   "video": "left_eye",
+   "video_t_start": 0.04022520986490656
+  }
+ ],
+ "episodes": [
+  {
+   "id": "88f642da-c839-4f01-8c9e-fba241278c2b",
+   "segment": "segment1",
+   "action": "HH06",
+   "quality": "valid",
+   "start_s": 1.052,
+   "end_s": 63.842,
+   "t_start": 1.0922,
+   "t_end": 63.8822,
+   "instruction": "Hand the object to your partner. They will be looking away, so you will have to get their attention and place it into their hand. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "a23e24ac-b38a-4da0-b35a-1cb2e7f83bb7",
+   "segment": "segment1",
+   "action": "HH06",
+   "quality": "valid",
+   "start_s": 63.842,
+   "end_s": 125.458,
+   "t_start": 63.8822,
+   "t_end": 125.4982,
+   "instruction": "Hand the object to your partner. They will be looking away, so you will have to get their attention and place it into their hand. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  }
+ ]
+}

actions/human_human_locomanipulation/HH06/session_003/cameras/gsi_online_calibration.json

@@ -0,0 +1,264 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 206,
+    "median_px": 4.17,
+    "pair": [
+     "left_eye",
+     "left"
+    ]
+   }
+  ],
+  "groups_used": 13,
+  "median_px": 0.395
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye"
+   ],
+   "delta_deg": 1.4429,
+   "gate_fail": [],
+   "held_out_px_after": 0.586,
+   "held_out_px_before": 9.166,
+   "inliers": 962,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.2064,
+    -0.1423,
+    -0.7786
+   ],
+   "split_deg": 0.0806,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 2.3323,
+   "gate_fail": [],
+   "held_out_px_after": 0.546,
+   "held_out_px_before": 6.477,
+   "inliers": 1685,
+   "position_fitted": true,
+   "position_mm": [
+    -0.71,
+    -26.8,
+    -3.6
+   ],
+   "position_sigma_mm": 0.169,
+   "position_split_mm": 1.262,
+   "rotvec_deg": [
+    1.6372,
+    -0.6845,
+    1.5135
+   ],
+   "split_deg": 0.0427,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.2874,
+   "gate_fail": [],
+   "held_out_px_after": 0.828,
+   "held_out_px_before": 9.211,
+   "inliers": 1542,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.505,
+    -1.1632,
+    2.6812
+   ],
+   "split_deg": 0.2351,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 3.105,
+   "gate_fail": [],
+   "held_out_px_after": 0.451,
+   "held_out_px_before": 5.592,
+   "inliers": 2875,
+   "position_fitted": true,
+   "position_mm": [
+    0.66,
+    -24.03,
+    -0.16
+   ],
+   "position_sigma_mm": 0.096,
+   "position_split_mm": 0.248,
+   "rotvec_deg": [
+    1.6819,
+    -1.1492,
+    2.3434
+   ],
+   "split_deg": 0.0609,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.3839,
+   "gate_fail": [],
+   "held_out_px_after": 0.339,
+   "held_out_px_before": 2.272,
+   "inliers": 4179,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2072,
+    -0.3231,
+    -0.006
+   ],
+   "split_deg": 0.0652,
+   "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": "9403fcf0057ab407285684508694b4bd88529f8c8bedbf07461d7ab826144b61",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "d5813eafc7f0c42da6689a6bf9c723609701460ff2037ae26252d1362108b876",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "fba029b7a9457d521b89cbd069488171466b8aebf259c8a200db3ced2464e316",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "5da26f311eb5a228231536d05cc5a70cbc35d56cb13ec18a152f8c4bab52d14e",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "8c92f779464cfafe",
+ "kind": "online_calibration",
+ "output_sha256": "424594db89ef86eca4b5579b5be91fce6aeeae851efc6652e5074b2d228daf19",
+ "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": 47.316,
+  "left_eye": 48.623,
+  "left_front": 55.9,
+  "right": 45.571,
+  "right_eye": 50.02,
+  "right_front": 57.596
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   2028278076444,
+   2029278087555,
+   2032278087555,
+   2033278076444,
+   2037278087555,
+   2038278087555,
+   2040278098666,
+   2045278087555,
+   2046278087555,
+   2050278098666,
+   2051278087555,
+   2053278076444,
+   2055278109777,
+   2057278098666,
+   2058278065333,
+   2062278098666,
+   2063278065333,
+   2067278087555,
+   2068278076444,
+   2069278065333,
+   2070278076444,
+   2075278087555,
+   2076278087555,
+   2078278065333,
+   2079278065333,
+   2081278143111,
+   2082278087555,
+   2088278087555,
+   2089278087555,
+   2090278087555,
+   2091278065333,
+   2095278087555,
+   2096278098666,
+   2097278087555,
+   2098278087555,
+   2103278076444,
+   2105278087555,
+   2108278087555,
+   2109278087555,
+   2110278065333,
+   2111278076444,
+   2115278076444,
+   2116278076444,
+   2120278065333,
+   2121278065333,
+   2123278076444,
+   2124278087555,
+   2129278154222,
+   2130278198666,
+   2131278076444,
+   2132278087555,
+   2137278087555,
+   2138278087555,
+   2140278065333,
+   2141278076444,
+   2147278087555,
+   2148278087555,
+   2149278076444
+  ]
+ },
+ "version": 1
+}

actions/human_human_locomanipulation/HH06/session_003/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f6bab850681d6c49c633d814faa5036e0d555eae003c6a6f5b642945931f195
+size 752247

actions/human_human_locomanipulation/HH06/session_003/meta.json

@@ -372,8 +372,8 @@
   "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": {
@@ -835,12 +835,126 @@
   },
   "applied": 11
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 44.12,
+    "offset_rotvec": [
+     -0.629,
+     0.1768,
+     0.4076
+    ],
+    "dev_deg": {
+     "median": 65.73,
+     "p90": 130.61
+    },
+    "samples": 3594,
+    "accepted": 98,
+    "wrist_pos_err_mm_median": 44.2,
+    "per_camera": {
+     "head": {
+      "samples": 3594,
+      "accepted": 98,
+      "gate_deg": 30.0,
+      "offset_deg": 44.12,
+      "tier": "primary",
+      "dev_deg_median": 65.73,
+      "wrist_pos_err_mm_median": 44.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 366,
+     "interpolated": 118,
+     "mean_hand": 15201,
+     "no_body_fit": 7
+    },
+    "observed_fraction": 0.0308,
+    "observed_fraction_of_valid": 0.0309,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 44.81,
+     "smplx": NaN
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": NaN,
+      "p90": NaN
+     },
+     "registered": {
+      "median": NaN,
+      "p90": NaN
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 16.31,
+    "offset_rotvec": [
+     0.259,
+     0.1106,
+     0.0421
+    ],
+    "dev_deg": {
+     "median": 12.14,
+     "p90": 55.6
+    },
+    "samples": 3501,
+    "accepted": 2804,
+    "wrist_pos_err_mm_median": 39.9,
+    "per_camera": {
+     "head": {
+      "samples": 3501,
+      "accepted": 2804,
+      "gate_deg": 30.0,
+      "offset_deg": 16.31,
+      "tier": "primary",
+      "dev_deg_median": 12.14,
+      "wrist_pos_err_mm_median": 39.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11386,
+     "interpolated": 1350,
+     "mean_hand": 2949,
+     "no_body_fit": 7
+    },
+    "observed_fraction": 0.8116,
+    "observed_fraction_of_valid": 0.812,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 18.87,
+     "smplx": 1.82
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.3,
+      "p90": 7.8
+     },
+     "registered": {
+      "median": 6.5,
+      "p90": 9.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T20:28:08.588627+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/HH06/session_003",
   "family": "human_human_locomanipulation",
   "primitive": "HH06",
   "source_session": "20261020/HH06/20261020_084905_session35"
  },
+ "task": {
+  "primitive": "HH06",
+  "instruction": "Hand the object to your partner. They will be looking away, so you will have to get their attention and place it into their hand. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+ },
  "objects": [
   {
    "name": "LittleBox4",

actions/human_human_locomanipulation/HH06/session_003/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:798b10c626c8d2129393f1137bcbaee98fdc05ff2ff5b98d3c14f6661dc79e0b
+size 4816241

actions/human_human_locomanipulation/HH06/session_003/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:35a05a33cbb2b651eb0e95ffd8063427f6209c52b531b67da5cc34868b4118ea
-size 6023044
+oid sha256:1dd4d62de2e68e9153e6e6a0d86b15902d8a76516d9f54314274026b85f78603
+size 8456981

actions/human_human_locomanipulation/HH06/session_004/cameras/gsi_online_calibration.json

@@ -0,0 +1,257 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.463
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.592,
+   "gate_fail": [],
+   "held_out_px_after": 0.606,
+   "held_out_px_before": 16.08,
+   "inliers": 1304,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.2058,
+    -0.133,
+    -1.031
+   ],
+   "split_deg": 0.0851,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9557,
+   "gate_fail": [],
+   "held_out_px_after": 0.785,
+   "held_out_px_before": 10.164,
+   "inliers": 1791,
+   "position_fitted": true,
+   "position_mm": [
+    3.2,
+    -39.72,
+    2.08
+   ],
+   "position_sigma_mm": 0.36,
+   "position_split_mm": 4.458,
+   "rotvec_deg": [
+    1.2014,
+    -0.7034,
+    1.3735
+   ],
+   "split_deg": 0.1254,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.5028,
+   "gate_fail": [],
+   "held_out_px_after": 0.634,
+   "held_out_px_before": 10.504,
+   "inliers": 1625,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.7272,
+    -1.4718,
+    2.6684
+   ],
+   "split_deg": 0.1106,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 3.0229,
+   "gate_fail": [],
+   "held_out_px_after": 0.481,
+   "held_out_px_before": 7.143,
+   "inliers": 2699,
+   "position_fitted": true,
+   "position_mm": [
+    3.17,
+    -19.38,
+    -1.19
+   ],
+   "position_sigma_mm": 0.192,
+   "position_split_mm": 0.481,
+   "rotvec_deg": [
+    1.8115,
+    -1.4413,
+    1.944
+   ],
+   "split_deg": 0.0563,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.515,
+   "gate_fail": [],
+   "held_out_px_after": 0.403,
+   "held_out_px_before": 3.249,
+   "inliers": 3216,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2099,
+    -0.3927,
+    -0.2588
+   ],
+   "split_deg": 0.0417,
+   "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": "55151d45fbe00809eec3d0ca832418082138aef5ddf23a848794597959ba0e77",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "d919e0aa843f7dbc2cf8a6ab3df584ebcc465ab7929a8ab180aa39fbb2867f68",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "5f3ae7a33dc583e69152e1ce1ab2035f75900597261a509d628e747c4d3993c5",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "da35d0ba5243dff08e4bbf6646e0d8f4598f083f02a6e1f264504d546de44690",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "feb2618b5a5b3fba",
+ "kind": "online_calibration",
+ "output_sha256": "ea1dca8da0adcc956fb8220fd8f9d23bb6f06c35c6d5570dbd200b024030545a",
+ "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": 41.454,
+  "left_eye": 39.917,
+  "left_front": 48.878,
+  "right": 42.658,
+  "right_eye": 40.124,
+  "right_front": 46.807
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   2968375791555,
+   2969375813777,
+   2971375813777,
+   2972375813777,
+   2975375813777,
+   2976375791555,
+   2978375802666,
+   2979375813777,
+   2985375791555,
+   2986375813777,
+   2989375813777,
+   2990375824888,
+   2992375802666,
+   2993375813777,
+   2996375802666,
+   2997375824888,
+   3003375802666,
+   3004375847111,
+   3005375836000,
+   3012375802666,
+   3013375813777,
+   3017375791555,
+   3018375791555,
+   3021375813777,
+   3022375813777,
+   3023375813777,
+   3029375813777,
+   3030375802666,
+   3031375824888,
+   3032375813777,
+   3035375802666,
+   3036375836000,
+   3041375824888,
+   3042375813777,
+   3047375813777,
+   3048375813777,
+   3049375813777,
+   3050375791555,
+   3056375824888,
+   3057375802666,
+   3061375813777,
+   3062375813777,
+   3064375791555,
+   3065375813777,
+   3068375836000,
+   3069375791555,
+   3073375936000,
+   3074375813777,
+   3076375813777,
+   3077375791555,
+   3081375813777,
+   3082375802666,
+   3084375813777,
+   3085375813777,
+   3091375791555,
+   3092375791555,
+   3095375813777,
+   3096375813777
+  ]
+ },
+ "version": 1
+}

actions/human_human_locomanipulation/HH06/session_004/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe98463842abc0cf2174e83678dd66c70f5f81e91e51b0e30968d43056112800
+size 781757

actions/human_human_locomanipulation/HH06/session_004/meta.json

@@ -384,8 +384,8 @@
   "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": {
@@ -566,12 +566,126 @@
   },
   "applied": 1
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 15.66,
+    "offset_rotvec": [
+     0.1636,
+     -0.0229,
+     -0.2177
+    ],
+    "dev_deg": {
+     "median": 14.74,
+     "p90": 35.62
+    },
+    "samples": 3851,
+    "accepted": 3286,
+    "wrist_pos_err_mm_median": 41.0,
+    "per_camera": {
+     "head": {
+      "samples": 3851,
+      "accepted": 3286,
+      "gate_deg": 30.0,
+      "offset_deg": 15.66,
+      "tier": "primary",
+      "dev_deg_median": 14.74,
+      "wrist_pos_err_mm_median": 41.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13286,
+     "interpolated": 2130,
+     "mean_hand": 900,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9448,
+    "observed_fraction_of_valid": 0.9448,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 15.37,
+     "smplx": NaN
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": NaN,
+      "p90": NaN
+     },
+     "registered": {
+      "median": NaN,
+      "p90": NaN
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 20.33,
+    "offset_rotvec": [
+     0.0969,
+     -0.0626,
+     0.3355
+    ],
+    "dev_deg": {
+     "median": 10.5,
+     "p90": 41.69
+    },
+    "samples": 3656,
+    "accepted": 3154,
+    "wrist_pos_err_mm_median": 46.6,
+    "per_camera": {
+     "head": {
+      "samples": 3656,
+      "accepted": 3154,
+      "gate_deg": 30.0,
+      "offset_deg": 20.33,
+      "tier": "primary",
+      "dev_deg_median": 10.5,
+      "wrist_pos_err_mm_median": 46.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12684,
+     "interpolated": 1440,
+     "mean_hand": 2192,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.8657,
+    "observed_fraction_of_valid": 0.8657,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 15.61,
+     "smplx": 3.02
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 18.8,
+      "p90": 32.8
+     },
+     "registered": {
+      "median": 18.7,
+      "p90": 32.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T18:13:48.404915+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/HH06/session_004",
   "family": "human_human_locomanipulation",
   "primitive": "HH06",
   "source_session": "20261022/HH06/20261022_073816_session8"
  },
+ "task": {
+  "primitive": "HH06",
+  "instruction": "Hand the object to your partner. They will be looking away, so you will have to get their attention and place it into their hand. 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/HH06/session_004/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a81af7be32d7300c06a781de2b92a896de045a5997acdeaa6c931396bec73a8c
+size 5095653

actions/human_human_locomanipulation/HH06/session_004/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:10328d978c58bfd556bb6d2171f90223f7edc3e49e93d7905445169453b26547
-size 6249374
+oid sha256:12db73c6bbc54c68d20963d8827c4a7bad5f19eec54c3bba10784529b9abd065
+size 11352106