Release update 2026-11-05: 5760 sessions, instructions, annotations (part 125)

actions/human_human_locomanipulation/HH04/session_006/cameras/gsi_online_calibration.json

@@ -0,0 +1,254 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.479
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.4981,
+   "gate_fail": [],
+   "held_out_px_after": 0.679,
+   "held_out_px_before": 21.41,
+   "inliers": 1188,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.1562,
+    -0.138,
+    -0.9426
+   ],
+   "split_deg": 0.2308,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.3064,
+   "gate_fail": [],
+   "held_out_px_after": 0.69,
+   "held_out_px_before": 8.094,
+   "inliers": 2665,
+   "position_fitted": true,
+   "position_mm": [
+    0.48,
+    -26.21,
+    -2.35
+   ],
+   "position_sigma_mm": 0.232,
+   "position_split_mm": 0.869,
+   "rotvec_deg": [
+    1.7411,
+    -0.7058,
+    1.3379
+   ],
+   "split_deg": 0.113,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.2155,
+   "gate_fail": [],
+   "held_out_px_after": 0.622,
+   "held_out_px_before": 9.0,
+   "inliers": 1873,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.4798,
+    -1.0962,
+    2.6359
+   ],
+   "split_deg": 0.1479,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 3.0476,
+   "gate_fail": [],
+   "held_out_px_after": 0.522,
+   "held_out_px_before": 5.7,
+   "inliers": 3157,
+   "position_fitted": true,
+   "position_mm": [
+    2.15,
+    -22.45,
+    -1.34
+   ],
+   "position_sigma_mm": 0.227,
+   "position_split_mm": 0.497,
+   "rotvec_deg": [
+    1.7693,
+    -1.4106,
+    2.0415
+   ],
+   "split_deg": 0.1007,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.495,
+   "gate_fail": [],
+   "held_out_px_after": 0.428,
+   "held_out_px_before": 2.826,
+   "inliers": 3388,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2224,
+    -0.403,
+    -0.1819
+   ],
+   "split_deg": 0.0742,
+   "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": "77844dca73064badf0fb7cf27cba8245b3407855c76a2a3b776b472bbb9610b6",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "9b2f2972012473f47a011b8603d3fb6feaf9861c0fd220a47fc9983bb393f291",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "ec065b28a23f23f84762fa31ce4d21a6c5271865490946490b343288e6b47920",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "8f1d3e4b0efb121438ea0679ae217a66458785bf096d632946afe06eaa92cc45",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "bc57e97d8d904bf2",
+ "kind": "online_calibration",
+ "output_sha256": "a429432153695d2fa17b6e573d2162872a234450ac6ef6a41b37396564b80b42",
+ "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": 29.001,
+  "left_eye": 28.655,
+  "left_front": 34.076,
+  "right": 28.985,
+  "right_eye": 29.587,
+  "right_front": 32.284
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   3137570970888,
+   3138571026444,
+   3147570904222,
+   3148570882000,
+   3151570893111,
+   3152570915333,
+   3154570915333,
+   3155570893111,
+   3161570904222,
+   3162571026444,
+   3163570882000,
+   3168570882000,
+   3169570882000,
+   3177570904222,
+   3178570882000,
+   3179571037555,
+   3184570882000,
+   3185570893111,
+   3192570882000,
+   3193570904222,
+   3194570915333,
+   3202570870888,
+   3203570904222,
+   3204570882000,
+   3211570904222,
+   3212570904222,
+   3215571037555,
+   3216570904222,
+   3218570904222,
+   3219570915333,
+   3225570893111,
+   3226571059777,
+   3229570893111,
+   3230570993111,
+   3233570882000,
+   3234570904222,
+   3238570915333,
+   3239570904222,
+   3245570882000,
+   3246570882000,
+   3249570882000,
+   3250570904222,
+   3256570893111,
+   3257570882000,
+   3259570893111,
+   3260570882000,
+   3264570882000,
+   3265570893111,
+   3267570915333,
+   3268570915333,
+   3273570882000,
+   3274570870888,
+   3281570893111,
+   3282570904222,
+   3283570904222
+  ]
+ },
+ "version": 1
+}

actions/human_human_locomanipulation/HH04/session_006/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ac4492e6033ddbc39e45f11b23020b33254962e9eadd06dbf492300dfb45496
+size 878195

actions/human_human_locomanipulation/HH04/session_006/meta.json

@@ -373,8 +373,8 @@
   "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": 14.9,
+    "offset_rotvec": [
+     0.2536,
+     0.0081,
+     -0.0572
+    ],
+    "dev_deg": {
+     "median": 6.57,
+     "p90": 12.45
+    },
+    "samples": 4493,
+    "accepted": 4417,
+    "wrist_pos_err_mm_median": 24.2,
+    "per_camera": {
+     "head": {
+      "samples": 4493,
+      "accepted": 4417,
+      "gate_deg": 30.0,
+      "offset_deg": 14.9,
+      "tier": "primary",
+      "dev_deg_median": 6.57,
+      "wrist_pos_err_mm_median": 24.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 17716,
+     "interpolated": 408,
+     "mean_hand": 229,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9875,
+    "observed_fraction_of_valid": 0.9875,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 16.19,
+     "smplx": 2.77
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 11.7,
+      "p90": 17.0
+     },
+     "registered": {
+      "median": 11.3,
+      "p90": 16.4
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 8.86,
+    "offset_rotvec": [
+     -0.0074,
+     0.1544,
+     -0.0066
+    ],
+    "dev_deg": {
+     "median": 6.62,
+     "p90": 13.19
+    },
+    "samples": 4519,
+    "accepted": 4514,
+    "wrist_pos_err_mm_median": 52.0,
+    "per_camera": {
+     "head": {
+      "samples": 4519,
+      "accepted": 4514,
+      "gate_deg": 30.0,
+      "offset_deg": 8.86,
+      "tier": "primary",
+      "dev_deg_median": 6.62,
+      "wrist_pos_err_mm_median": 52.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 18074,
+     "interpolated": 54,
+     "mean_hand": 225,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9877,
+    "observed_fraction_of_valid": 0.9877,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 7.38,
+     "smplx": 1.96
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.1,
+      "p90": 8.5
+     },
+     "registered": {
+      "median": 7.7,
+      "p90": 9.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:40:04.282739+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/HH04/session_006",
   "family": "human_human_locomanipulation",
   "primitive": "HH04",
   "source_session": "20261024/HH04/20261024_073609_session12"
+ },
+ "task": {
+  "primitive": "HH04",
+  "instruction": "Hand the heavy box to your partner. Take your time and make sure they have it before you let go. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
  }
 }

actions/human_human_locomanipulation/HH04/session_006/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b00c515a7276b4dd5a440350b76cca2467973f32b6b40e1bff9f4ccf90cd3d56
+size 6079096

actions/human_human_locomanipulation/HH04/session_006/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c2690a9f381a505fbf3f215c7021350aa1aa65f8574cb86e3a54eac54c378857
-size 6953387
+oid sha256:06b2972a4de2b75cfafb5857251cfb90e377af04f76f14189b263868b04cc48e
+size 13048168

actions/human_human_locomanipulation/HH04/session_007/cameras/gsi_online_calibration.json

@@ -0,0 +1,256 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.525
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.6787,
+   "gate_fail": [],
+   "held_out_px_after": 0.516,
+   "held_out_px_before": 20.503,
+   "inliers": 2416,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.0636,
+    -0.3411,
+    -1.2533
+   ],
+   "split_deg": 0.0556,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.296,
+   "gate_fail": [],
+   "held_out_px_after": 0.669,
+   "held_out_px_before": 9.008,
+   "inliers": 3775,
+   "position_fitted": true,
+   "position_mm": [
+    1.97,
+    -27.0,
+    -1.41
+   ],
+   "position_sigma_mm": 0.254,
+   "position_split_mm": 1.53,
+   "rotvec_deg": [
+    1.5566,
+    -0.9057,
+    1.4241
+   ],
+   "split_deg": 0.0361,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.8618,
+   "gate_fail": [],
+   "held_out_px_after": 1.12,
+   "held_out_px_before": 13.867,
+   "inliers": 866,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.9243,
+    -1.1011,
+    3.162
+   ],
+   "split_deg": 0.5822,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.9356,
+   "gate_fail": [],
+   "held_out_px_after": 0.558,
+   "held_out_px_before": 4.326,
+   "inliers": 3813,
+   "position_fitted": true,
+   "position_mm": [
+    0.9,
+    -22.29,
+    0.41
+   ],
+   "position_sigma_mm": 0.217,
+   "position_split_mm": 0.968,
+   "rotvec_deg": [
+    1.7438,
+    -1.3873,
+    1.9111
+   ],
+   "split_deg": 0.0804,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.5572,
+   "gate_fail": [],
+   "held_out_px_after": 0.406,
+   "held_out_px_before": 4.01,
+   "inliers": 2546,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2246,
+    -0.4599,
+    -0.2203
+   ],
+   "split_deg": 0.0472,
+   "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": "3735b200a83372d875e1a40b52d038c6dc28294f176718e1b8390f2a0c71f411",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "ec8b0eb15c583631173834163388b0e2e3ae38a41bfcdec7afe060a5cfdb4246",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "5bde15781db3cd5da33bcf33b33674d8d021b2da73dea8c7828f2053c7b8643a",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "c7aa8b67d1644d092f6303df2f436b202216950067522c32ce0e534d631da14c",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "5f39ab664050ae8a",
+ "kind": "online_calibration",
+ "output_sha256": "643ee2ed44f16adfd035c0f5157f59f29745cbd86d43d432094c0f9670846cb1",
+ "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": 35.389,
+  "left_eye": 33.087,
+  "left_front": 31.031,
+  "right": 39.935,
+  "right_eye": 33.837,
+  "right_front": 28.734
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   2574888197555,
+   2575888242000,
+   2578888164222,
+   2579888164222,
+   2584888186444,
+   2585888153111,
+   2587888242000,
+   2588888153111,
+   2589888175333,
+   2590888197555,
+   2596888186444,
+   2597888186444,
+   2600888175333,
+   2601888175333,
+   2605888164222,
+   2606888164222,
+   2607888175333,
+   2611888153111,
+   2612888308666,
+   2619888175333,
+   2620888186444,
+   2623888175333,
+   2624888186444,
+   2626888164222,
+   2627888153111,
+   2628888164222,
+   2629888175333,
+   2636888153111,
+   2637888186444,
+   2638888175333,
+   2644888175333,
+   2645888175333,
+   2648888175333,
+   2649888175333,
+   2652888164222,
+   2653888175333,
+   2654888297555,
+   2655888164222,
+   2660888164222,
+   2661888153111,
+   2664888164222,
+   2665888164222,
+   2669888275333,
+   2670888175333,
+   2673888319777,
+   2674888186444,
+   2680888164222,
+   2681888153111,
+   2684888175333,
+   2685888175333,
+   2686888175333,
+   2689888186444,
+   2690888153111,
+   2694888175333,
+   2695888297555,
+   2698888175333,
+   2699888219777
+  ]
+ },
+ "version": 1
+}

actions/human_human_locomanipulation/HH04/session_007/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b99d849e24a490022fb06c50f2c5f3c69ab717164cee8d652409cb8d2f6b900
+size 764403

actions/human_human_locomanipulation/HH04/session_007/meta.json

@@ -529,6 +529,10 @@
   "primitive": "HH04",
   "source_session": "20261024/HH04/20261024_085802_session13"
  },
+ "task": {
+  "primitive": "HH04",
+  "instruction": "Hand the heavy box to your partner. Take your time and make sure they have it before you let go. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+ },
  "objects": [
   {
    "name": "BigBox2",

actions/human_human_locomanipulation/HH04/session_007/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc9c4070392969e859b3adf1e199fbbdb496c9bbc20d50ee23b115bfd95a6f99
+size 5121526

actions/human_human_locomanipulation/HH04/session_008/annotations.json

@@ -0,0 +1,160 @@
+{
+ "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": "HH04",
+ "instruction": "Hand the heavy box to your partner. Take your time and make sure they have it before you let go. 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": 128.766722,
+   "video": "left_eye",
+   "video_t_start": 0.04091862514522536
+  }
+ ],
+ "episodes": [
+  {
+   "id": "07314abe-1877-424b-a080-e6fef1bc7f23",
+   "segment": "segment1",
+   "action": "HH04",
+   "quality": "valid",
+   "start_s": 1.702,
+   "end_s": 7.949,
+   "t_start": 1.7429,
+   "t_end": 7.9899,
+   "instruction": "Hand the heavy box to your partner. Take your time and make sure they have it before you let go. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "3bdf940e-8422-46d8-bab7-1938ee475fcf",
+   "segment": "segment1",
+   "action": "HH04",
+   "quality": "valid",
+   "start_s": 9.764,
+   "end_s": 16.862,
+   "t_start": 9.8049,
+   "t_end": 16.9029,
+   "instruction": "Hand the heavy box to your partner. Take your time and make sure they have it before you let go. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "3cae2146-80d3-4c93-abb5-5bf4121342e9",
+   "segment": "segment1",
+   "action": "HH04",
+   "quality": "valid",
+   "start_s": 18.09,
+   "end_s": 26.895,
+   "t_start": 18.1309,
+   "t_end": 26.9359,
+   "instruction": "Hand the heavy box to your partner. Take your time and make sure they have it before you let go. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "7d513440-35e0-4435-b4b4-f0ebabfa0dc8",
+   "segment": "segment1",
+   "action": "HH04",
+   "quality": "valid",
+   "start_s": 27.345,
+   "end_s": 34.586,
+   "t_start": 27.3859,
+   "t_end": 34.6269,
+   "instruction": "Hand the heavy box to your partner. Take your time and make sure they have it before you let go. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "30f7592a-29d6-45af-a84d-2174b6b7ae85",
+   "segment": "segment1",
+   "action": "HH04",
+   "quality": "valid",
+   "start_s": 34.843,
+   "end_s": 42.083,
+   "t_start": 34.8839,
+   "t_end": 42.1239,
+   "instruction": "Hand the heavy box to your partner. Take your time and make sure they have it before you let go. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "916b25bc-93d2-407e-b0bd-2ac017c398fb",
+   "segment": "segment1",
+   "action": "HH04",
+   "quality": "valid",
+   "start_s": 42.948,
+   "end_s": 50.404,
+   "t_start": 42.9889,
+   "t_end": 50.4449,
+   "instruction": "Hand the heavy box to your partner. Take your time and make sure they have it before you let go. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "ec31b5a6-b0ab-4ef1-b149-f16a82394ff3",
+   "segment": "segment1",
+   "action": "HH04",
+   "quality": "valid",
+   "start_s": 51.404,
+   "end_s": 60.224,
+   "t_start": 51.4449,
+   "t_end": 60.2649,
+   "instruction": "Hand the heavy box to your partner. Take your time and make sure they have it before you let go. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "1810c47a-34e7-40b6-afc9-fbf7be46608e",
+   "segment": "segment1",
+   "action": "HH04",
+   "quality": "valid",
+   "start_s": 62.297,
+   "end_s": 68.344,
+   "t_start": 62.3379,
+   "t_end": 68.3849,
+   "instruction": "Hand the heavy box to your partner. Take your time and make sure they have it before you let go. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "3c94e2b8-a2a3-4d33-9498-b8b51af56415",
+   "segment": "segment1",
+   "action": "HH04",
+   "quality": "valid",
+   "start_s": 70.171,
+   "end_s": 77.451,
+   "t_start": 70.2119,
+   "t_end": 77.4919,
+   "instruction": "Hand the heavy box to your partner. Take your time and make sure they have it before you let go. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "70f494c8-bcc2-4331-ad41-30460941a60b",
+   "segment": "segment1",
+   "action": "HH04",
+   "quality": "valid",
+   "start_s": 79.185,
+   "end_s": 85.709,
+   "t_start": 79.2259,
+   "t_end": 85.7499,
+   "instruction": "Hand the heavy box to your partner. Take your time and make sure they have it before you let go. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "6a10f84e-89be-47d4-9800-dae119fa308f",
+   "segment": "segment1",
+   "action": "HH04",
+   "quality": "valid",
+   "start_s": 88.031,
+   "end_s": 96.006,
+   "t_start": 88.0719,
+   "t_end": 96.0469,
+   "instruction": "Hand the heavy box to your partner. Take your time and make sure they have it before you let go. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "301f3d38-ceae-43af-9664-359c13042971",
+   "segment": "segment1",
+   "action": "HH04",
+   "quality": "valid",
+   "start_s": 97.705,
+   "end_s": 106.844,
+   "t_start": 97.7459,
+   "t_end": 106.8849,
+   "instruction": "Hand the heavy box to your partner. Take your time and make sure they have it before you let go. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "3ba0bc76-566a-47ae-9ad8-2d7c66853e6f",
+   "segment": "segment1",
+   "action": "HH04",
+   "quality": "valid",
+   "start_s": 109.906,
+   "end_s": 118.303,
+   "t_start": 109.9469,
+   "t_end": 118.3439,
+   "instruction": "Hand the heavy box to your partner. Take your time and make sure they have it before you let go. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  }
+ ]
+}

actions/human_human_locomanipulation/HH04/session_008/cameras/gsi_online_calibration.json

@@ -0,0 +1,256 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.36
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.7499,
+   "gate_fail": [],
+   "held_out_px_after": 0.553,
+   "held_out_px_before": 26.238,
+   "inliers": 1560,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.3111,
+    -0.3195,
+    -1.1141
+   ],
+   "split_deg": 0.0234,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.4254,
+   "gate_fail": [],
+   "held_out_px_after": 0.417,
+   "held_out_px_before": 8.242,
+   "inliers": 2987,
+   "position_fitted": true,
+   "position_mm": [
+    0.53,
+    -22.28,
+    -3.78
+   ],
+   "position_sigma_mm": 0.179,
+   "position_split_mm": 1.718,
+   "rotvec_deg": [
+    1.8095,
+    -0.8675,
+    1.3623
+   ],
+   "split_deg": 0.0641,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 3.6932,
+   "gate_fail": [],
+   "held_out_px_after": 0.508,
+   "held_out_px_before": 13.891,
+   "inliers": 2336,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.7556,
+    -1.2992,
+    2.9782
+   ],
+   "split_deg": 0.3627,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.8414,
+   "gate_fail": [],
+   "held_out_px_after": 0.366,
+   "held_out_px_before": 4.652,
+   "inliers": 3146,
+   "position_fitted": true,
+   "position_mm": [
+    2.16,
+    -21.13,
+    -1.13
+   ],
+   "position_sigma_mm": 0.163,
+   "position_split_mm": 1.589,
+   "rotvec_deg": [
+    1.6381,
+    -1.3311,
+    1.9021
+   ],
+   "split_deg": 0.0544,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.549,
+   "gate_fail": [],
+   "held_out_px_after": 0.322,
+   "held_out_px_before": 2.22,
+   "inliers": 5211,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2417,
+    -0.3814,
+    -0.3122
+   ],
+   "split_deg": 0.0023,
+   "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": "9554a5396ad8261d4254d756c58c7ba061c52547410a0be7417a3199ab4d9af7",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "4ce9f347428261f27a37cd3ead826eff4b1669695732e321773c1a36b0e827e8",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "fdc5a7c64aca3379ec6c479c233d31c68a2c9d1a31c7dd0f64333cc2a4ffe332",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "656b2b734becd63fd4ad67ad5729470e9e44df93406e55437061620ce6cf6f99",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "17446e9c24c9d1b5",
+ "kind": "online_calibration",
+ "output_sha256": "85c47dc1e48964d4d3531914f02e617c63249e1c0ecd44d2116e98cebffc9caa",
+ "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": 24.583,
+  "left_eye": 32.248,
+  "left_front": 45.122,
+  "right": 28.461,
+  "right_eye": 33.851,
+  "right_front": 41.62
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   8634260502333,
+   8635260435666,
+   8637260402333,
+   8638260446777,
+   8641260557888,
+   8642260535666,
+   8646260580111,
+   8647260424555,
+   8651260424555,
+   8652260435666,
+   8653260413444,
+   8656260424555,
+   8657260535666,
+   8660260435666,
+   8661260402333,
+   8667260424555,
+   8668260435666,
+   8669260435666,
+   8675260424555,
+   8676260413444,
+   8680260424555,
+   8681260424555,
+   8684260424555,
+   8685260424555,
+   8686260402333,
+   8690260413444,
+   8691260424555,
+   8694260424555,
+   8695260413444,
+   8698260413444,
+   8699260435666,
+   8702260413444,
+   8703260580111,
+   8707260413444,
+   8708260546777,
+   8711260424555,
+   8712260413444,
+   8715260413444,
+   8716260391222,
+   8721260402333,
+   8722260435666,
+   8726260491222,
+   8727260535666,
+   8730260424555,
+   8731260424555,
+   8732260435666,
+   8738260424555,
+   8739260480111,
+   8743260413444,
+   8744260402333,
+   8745260546777,
+   8749260546777,
+   8750260424555,
+   8755260413444,
+   8756260424555
+  ]
+ },
+ "version": 1
+}

actions/human_human_locomanipulation/HH04/session_008/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a876e45b3f1dec6fb753debe47aa94fb2a091d5fedbe7320f1202cd734b692a
+size 736487

actions/human_human_locomanipulation/HH04/session_008/meta.json

@@ -288,44 +288,44 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
  "canonical": {
-  "generated_at_utc": "2026-10-27T06:43:04.253777+00:00",
+  "generated_at_utc": "2026-10-28T23:22:09.369678+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": 31.5,
-   "headtop_p95_mm": 1624.0
+   "sole_marker_p1_mm": 29.7,
+   "headtop_p95_mm": 1622.7
   },
   "gravity_check": {
    "static_samples": 11721,
    "g_world_mean_m_s2": [
-    0.1088,
-    -0.0346,
-    9.7826
+    0.0628,
+    0.0188,
+    9.783
    ],
-   "tilt_from_z_deg": 0.668,
+   "tilt_from_z_deg": 0.384,
    "tilt_from_z_deg_before_levelling": 0.158,
    "magnitude_m_s2": 9.7832
   },
@@ -370,7 +370,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-27T20:48:23.337853+00:00",
+  "generated_at_utc": "2026-10-29T04:47:07.392246+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -423,8 +423,8 @@
   "valid_fraction": 0.9995,
   "qc": {
    "lowest_vertex_mm": {
-    "median": 0.9,
-    "p5": 0.1
+    "median": -0.5,
+    "p5": -1.3
    },
    "frames_checked": 516,
    "stature_mm": 1627.7
@@ -439,19 +439,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 0.0,
+    "Q_deg": 163.48,
     "Q_rotvec": [
-     -0.0,
-     -0.0,
-     0.0
+     2.84614,
+     0.1898,
+     -0.06879
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 19.1,
-    "opposite_sign_bend_deg": 172.1,
+    "wrist_bend_deg_median": 168.9,
+    "opposite_sign_bend_deg": 32.2,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.23,
     "hand_vs_marker_frame_deg": {
-     "before": 2.23,
+     "before": 163.62,
      "after": 2.23
     },
     "markers_on_wrist": [
@@ -459,15 +459,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 1.92,
+     "twist_moved_deg": 167.08,
      "wrist_twist_deg_after": {
-      "median": 0.0,
+      "median": 1.92,
       "iqr": [
-       -7.0,
-       5.5
+       -5.1,
+       7.4
       ]
      },
-     "wrist_total_deg_median_after": 19.6,
+     "wrist_total_deg_median_after": 19.4,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -478,19 +478,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 0.0,
+    "Q_deg": 32.97,
     "Q_rotvec": [
-     0.0,
-     0.0,
-     -0.0
+     0.02431,
+     0.47722,
+     -0.32057
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 34.3,
-    "opposite_sign_bend_deg": 174.0,
+    "wrist_bend_deg_median": 37.2,
+    "opposite_sign_bend_deg": 162.0,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 5.33,
     "hand_vs_marker_frame_deg": {
-     "before": 5.33,
+     "before": 32.66,
      "after": 5.33
     },
     "markers_on_wrist": [
@@ -498,9 +498,9 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -0.0,
+     "twist_moved_deg": 13.5,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": 0.0,
       "iqr": [
        -7.0,
        3.8
@@ -515,7 +515,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-28T06:50:26.574166+00:00",
+   "generated_at_utc": "2026-10-29T04:47:10.601303+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -572,6 +572,10 @@
   "primitive": "HH04",
   "source_session": "20261026/HH04/20261026_071723_session31"
  },
+ "task": {
+  "primitive": "HH04",
+  "instruction": "Hand the heavy box to your partner. Take your time and make sure they have it before you let go. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+ },
  "objects": [
   {
    "name": "BigBox2",

actions/human_human_locomanipulation/HH04/session_008/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22f1d4c2a89827c976231bdc5d5c65ac8d4f05ce1b44632f382cc100297de6fe
+size 5129638

actions/human_human_locomanipulation/HH04/session_008/motions/head_rig.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:42fd2edb4061ec920a882f3c394dcf828167b114e1168bcf90d967cc6bd4d0ff
-size 1117366
+oid sha256:c71743f8a6bd70ef078691d6ba8396dbec2fa81ba5430a5386ec276f75639eb4
+size 1116508

actions/human_human_locomanipulation/HH04/session_008/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1e3ccae9f0bab1c39b1c360445ef9d5ff3daf6cd0c9aecfde3624a207f356a02
-size 5894596
+oid sha256:2456912f76c449bbff39ff1114d2734bc0a7490e44de31803cd7680f1a2e70dc
+size 5894306

actions/human_human_locomanipulation/HH04/session_009/annotations.json

@@ -0,0 +1,138 @@
+{
+ "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": "HH04",
+ "instruction": "Hand the heavy box to your partner. Take your time and make sure they have it before you let go. 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": 146.133267,
+   "video": "left_eye",
+   "video_t_start": 0.04066738529928267
+  }
+ ],
+ "episodes": [
+  {
+   "id": "ba0f09ca-2f49-4702-852a-4cfb8eb0b3fb",
+   "segment": "segment1",
+   "action": "HH04",
+   "quality": "valid",
+   "start_s": 0.718,
+   "end_s": 5.626,
+   "t_start": 0.7587,
+   "t_end": 5.6667,
+   "instruction": "Hand the heavy box to your partner. Take your time and make sure they have it before you let go. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "1ae307c8-1784-4b63-bfb5-be0ce4029051",
+   "segment": "segment1",
+   "action": "HH04",
+   "quality": "valid",
+   "start_s": 14.016,
+   "end_s": 20.834,
+   "t_start": 14.0567,
+   "t_end": 20.8747,
+   "instruction": "Hand the heavy box to your partner. Take your time and make sure they have it before you let go. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "92b6e388-c228-4613-8c5e-5c8bae9a1054",
+   "segment": "segment1",
+   "action": "HH04",
+   "quality": "valid",
+   "start_s": 21.581,
+   "end_s": 27.565,
+   "t_start": 21.6217,
+   "t_end": 27.6057,
+   "instruction": "Hand the heavy box to your partner. Take your time and make sure they have it before you let go. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "bf3733b3-1bff-4302-ac94-e44dc36d9c7f",
+   "segment": "segment1",
+   "action": "HH04",
+   "quality": "valid",
+   "start_s": 41.394,
+   "end_s": 48.887,
+   "t_start": 41.4347,
+   "t_end": 48.9277,
+   "instruction": "Hand the heavy box to your partner. Take your time and make sure they have it before you let go. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "2e47991d-7663-44b9-815e-c13f9945dc93",
+   "segment": "segment1",
+   "action": "HH04",
+   "quality": "valid",
+   "start_s": 49.383,
+   "end_s": 56.066,
+   "t_start": 49.4237,
+   "t_end": 56.1067,
+   "instruction": "Hand the heavy box to your partner. Take your time and make sure they have it before you let go. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "ec9d883f-7c61-42ef-a436-edfc121cb1f7",
+   "segment": "segment1",
+   "action": "HH04",
+   "quality": "valid",
+   "start_s": 68.347,
+   "end_s": 75.092,
+   "t_start": 68.3877,
+   "t_end": 75.1327,
+   "instruction": "Hand the heavy box to your partner. Take your time and make sure they have it before you let go. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "2a4b95af-c16d-409a-b9ab-58c8455d2d54",
+   "segment": "segment1",
+   "action": "HH04",
+   "quality": "valid",
+   "start_s": 75.949,
+   "end_s": 82.639,
+   "t_start": 75.9897,
+   "t_end": 82.6797,
+   "instruction": "Hand the heavy box to your partner. Take your time and make sure they have it before you let go. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "28c08407-12cd-4def-933b-24961cf1aef1",
+   "segment": "segment1",
+   "action": "HH04",
+   "quality": "valid",
+   "start_s": 91.624,
+   "end_s": 98.916,
+   "t_start": 91.6647,
+   "t_end": 98.9567,
+   "instruction": "Hand the heavy box to your partner. Take your time and make sure they have it before you let go. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "593c9178-afa8-468a-a8f3-3de9c54bbfee",
+   "segment": "segment1",
+   "action": "HH04",
+   "quality": "valid",
+   "start_s": 99.522,
+   "end_s": 104.681,
+   "t_start": 99.5627,
+   "t_end": 104.7217,
+   "instruction": "Hand the heavy box to your partner. Take your time and make sure they have it before you let go. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "82cb6e94-fbfc-48ad-8eda-edbb3cf0e75f",
+   "segment": "segment1",
+   "action": "HH04",
+   "quality": "valid",
+   "start_s": 117.547,
+   "end_s": 124.555,
+   "t_start": 117.5877,
+   "t_end": 124.5957,
+   "instruction": "Hand the heavy box to your partner. Take your time and make sure they have it before you let go. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "27067f54-cf82-4081-b834-042a2402483e",
+   "segment": "segment1",
+   "action": "HH04",
+   "quality": "valid",
+   "start_s": 125.686,
+   "end_s": 131.527,
+   "t_start": 125.7267,
+   "t_end": 131.5677,
+   "instruction": "Hand the heavy box to your partner. Take your time and make sure they have it before you let go. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  }
+ ]
+}

actions/human_human_locomanipulation/HH04/session_009/cameras/gsi_online_calibration.json

@@ -0,0 +1,250 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.376
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.6962,
+   "gate_fail": [],
+   "held_out_px_after": 0.441,
+   "held_out_px_before": 18.501,
+   "inliers": 2322,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.1136,
+    -0.284,
+    -1.2475
+   ],
+   "split_deg": 0.0622,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.1493,
+   "gate_fail": [],
+   "held_out_px_after": 0.436,
+   "held_out_px_before": 8.722,
+   "inliers": 3360,
+   "position_fitted": true,
+   "position_mm": [
+    1.98,
+    -27.1,
+    -1.25
+   ],
+   "position_sigma_mm": 0.248,
+   "position_split_mm": 3.193,
+   "rotvec_deg": [
+    1.4925,
+    -0.7551,
+    1.3496
+   ],
+   "split_deg": 0.0612,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.8764,
+   "gate_fail": [],
+   "held_out_px_after": 0.997,
+   "held_out_px_before": 11.937,
+   "inliers": 662,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.9136,
+    -0.9964,
+    3.2205
+   ],
+   "split_deg": 0.2096,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.8837,
+   "gate_fail": [],
+   "held_out_px_after": 0.366,
+   "held_out_px_before": 5.05,
+   "inliers": 3474,
+   "position_fitted": true,
+   "position_mm": [
+    0.14,
+    -22.22,
+    -1.16
+   ],
+   "position_sigma_mm": 0.202,
+   "position_split_mm": 5.988,
+   "rotvec_deg": [
+    1.6913,
+    -1.3892,
+    1.8775
+   ],
+   "split_deg": 0.0977,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.5627,
+   "gate_fail": [],
+   "held_out_px_after": 0.303,
+   "held_out_px_before": 2.873,
+   "inliers": 3173,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2042,
+    -0.4543,
+    -0.2618
+   ],
+   "split_deg": 0.012,
+   "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": "e88e30bfb98fe5dfb5d0fb7647e13e54b4ac72a9048021a470d6809f478449e7",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "951a9b7f893be87cc270da68afe8db5cacf0f67af13860a60d81f45a5c742f10",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "7981b6939d9dae7d5cebc0b58ff9cbf3ab765d86b871ecd4a004a78844186da7",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "245ac28418f39ca292759438af40ce7d0aaf8b1efc6b98459b3e2a2ff0ce32d8",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "dc95275b88e3d173",
+ "kind": "online_calibration",
+ "output_sha256": "71a3ad2f51a0c9ef62c0a3ab5356b69207e95125c57a3eaabd4082b7e365c0f6",
+ "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": 26.001,
+  "left_eye": 24.306,
+  "left_front": 23.285,
+  "right": 25.511,
+  "right_eye": 24.004,
+  "right_front": 25.305
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   12442300787555,
+   12443300854222,
+   12444300809777,
+   12446300820888,
+   12447300820888,
+   12448300854222,
+   12449300820888,
+   12450300776444,
+   12452300843111,
+   12453300776444,
+   12454300932000,
+   12456300909777,
+   12457300865333,
+   12458300854222,
+   12460300798666,
+   12461300787555,
+   12462300776444,
+   12463300854222,
+   12464300876444,
+   12465300787555,
+   12466300809777,
+   12468300809777,
+   12469300809777,
+   12470300787555,
+   12473300809777,
+   12474300787555,
+   12475300798666,
+   12476300943111,
+   12477300776444,
+   12479300809777,
+   12480300876444,
+   12481300854222,
+   12483300854222,
+   12484300920888,
+   12485300920888,
+   12486300798666,
+   12487300932000,
+   12488300776444,
+   12489300787555,
+   12490300787555,
+   12491300820888,
+   12492300932000,
+   12493300809777,
+   12494300820888,
+   12495300865333,
+   12496300787555,
+   12497300932000,
+   12498300809777,
+   12499300776444,
+   12501300787555,
+   12502300776444
+  ]
+ },
+ "version": 1
+}

actions/human_human_locomanipulation/HH04/session_009/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f3a23be753441209aeb7564e986a7f40c83738c79481ef572b8d8e3efc172fe
+size 833667

actions/human_human_locomanipulation/HH04/session_009/meta.json

@@ -288,44 +288,44 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
  "canonical": {
-  "generated_at_utc": "2026-10-27T06:43:05.024776+00:00",
+  "generated_at_utc": "2026-10-28T23:22:09.382162+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": 38.6,
-   "headtop_p95_mm": 1560.2
+   "sole_marker_p1_mm": 43.7,
+   "headtop_p95_mm": 1564.7
   },
   "gravity_check": {
    "static_samples": 15491,
    "g_world_mean_m_s2": [
-    0.1839,
-    0.1896,
-    9.7989
+    0.1379,
+    0.2431,
+    9.7985
    ],
-   "tilt_from_z_deg": 1.544,
+   "tilt_from_z_deg": 1.634,
    "tilt_from_z_deg_before_levelling": 1.232,
    "magnitude_m_s2": 9.8025
   },
@@ -370,7 +370,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-27T07:46:26.000243+00:00",
+  "generated_at_utc": "2026-10-29T04:49:19.235682+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -379,8 +379,8 @@
   "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": {
@@ -428,8 +428,8 @@
   "valid_fraction": 1.0,
   "qc": {
    "lowest_vertex_mm": {
-    "median": -19.3,
-    "p5": -20.2
+    "median": -16.3,
+    "p5": -17.2
    },
    "frames_checked": 585,
    "stature_mm": 1582.0
@@ -444,19 +444,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 180.0,
+    "Q_deg": 56.92,
     "Q_rotvec": [
-     2.98447,
-     -0.44488,
-     -0.87443
+     0.90128,
+     -0.36754,
+     0.19865
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 175.4,
-    "opposite_sign_bend_deg": 34.8,
+    "wrist_bend_deg_median": 91.8,
+    "opposite_sign_bend_deg": 96.1,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 1.74,
     "hand_vs_marker_frame_deg": {
-     "before": 178.89,
+     "before": 57.23,
      "after": 1.74
     },
     "markers_on_wrist": [
@@ -465,15 +465,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -174.24,
+     "twist_moved_deg": 91.71,
      "wrist_twist_deg_after": {
-      "median": -3.27,
+      "median": -0.0,
       "iqr": [
-       -10.7,
-       -0.7
+       -7.4,
+       2.6
       ]
      },
-     "wrist_total_deg_median_after": 12.0,
+     "wrist_total_deg_median_after": 10.4,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn"
@@ -483,19 +483,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 0.0,
+    "Q_deg": 131.58,
     "Q_rotvec": [
-     -0.0,
-     0.0,
-     -0.0
+     2.19424,
+     0.39477,
+     0.55081
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 18.1,
-    "opposite_sign_bend_deg": 176.2,
+    "wrist_bend_deg_median": 119.2,
+    "opposite_sign_bend_deg": 65.6,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.31,
     "hand_vs_marker_frame_deg": {
-     "before": 2.31,
+     "before": 131.69,
      "after": 2.31
     },
     "markers_on_wrist": [
@@ -503,9 +503,9 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -0.0,
+     "twist_moved_deg": -118.54,
      "wrist_twist_deg_after": {
-      "median": 0.0,
+      "median": -0.0,
       "iqr": [
        -2.6,
        9.2
@@ -521,16 +521,130 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-28T06:50:27.306046+00:00",
+   "generated_at_utc": "2026-10-29T04:49:22.500546+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 11.07,
+    "offset_rotvec": [
+     0.1408,
+     0.0971,
+     0.0898
+    ],
+    "dev_deg": {
+     "median": 20.68,
+     "p90": 32.29
+    },
+    "samples": 3260,
+    "accepted": 2843,
+    "wrist_pos_err_mm_median": 329.2,
+    "per_camera": {
+     "head": {
+      "samples": 3260,
+      "accepted": 2843,
+      "gate_deg": 30.0,
+      "offset_deg": 11.07,
+      "tier": "primary",
+      "dev_deg_median": 20.68,
+      "wrist_pos_err_mm_median": 329.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11520,
+     "interpolated": 3112,
+     "mean_hand": 2912,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.834,
+    "observed_fraction_of_valid": 0.834,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 19.19,
+     "smplx": 1.82
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 13.7,
+      "p90": 20.3
+     },
+     "registered": {
+      "median": 13.6,
+      "p90": 18.4
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 17.17,
+    "offset_rotvec": [
+     -0.1442,
+     -0.2621,
+     -0.0169
+    ],
+    "dev_deg": {
+     "median": 16.45,
+     "p90": 30.88
+    },
+    "samples": 3755,
+    "accepted": 3346,
+    "wrist_pos_err_mm_median": 308.1,
+    "per_camera": {
+     "head": {
+      "samples": 3755,
+      "accepted": 3346,
+      "gate_deg": 30.0,
+      "offset_deg": 17.17,
+      "tier": "primary",
+      "dev_deg_median": 16.45,
+      "wrist_pos_err_mm_median": 308.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13540,
+     "interpolated": 2416,
+     "mean_hand": 1588,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9095,
+    "observed_fraction_of_valid": 0.9095,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 19.82,
+     "smplx": 2.17
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 16.0,
+      "p90": 25.8
+     },
+     "registered": {
+      "median": 14.5,
+      "p90": 24.1
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:32:33.071923+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/HH04/session_009",
   "family": "human_human_locomanipulation",
   "primitive": "HH04",
   "source_session": "20261026/HH04/20261026_082053_session51"
  },
+ "task": {
+  "primitive": "HH04",
+  "instruction": "Hand the heavy box to your partner. Take your time and make sure they have it before you let go. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+ },
  "objects": [
   {
    "name": "BigBox2",

actions/human_human_locomanipulation/HH04/session_009/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84b711a05de065850bfc34de4ec1615aea468b88e1d823fda01b581ba22bf7e6
+size 4793688

actions/human_human_locomanipulation/HH04/session_009/motions/head_rig.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0997622e47f69a9a5f5fd55a34738ebb87141b50caa73d94fcfeb2965584d684
-size 1275483
+oid sha256:8501ba1f50c649e6f78d738f9803b29ff744ab2cb267eddfc0dfc767361eeebd
+size 1275807

actions/human_human_locomanipulation/HH04/session_009/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d6b08887cc6ede27d426680fa1b38de6a9ad7c5c6d2fc8ad3da9484eb2f74191
-size 6561507
+oid sha256:bbe6388b2eca90daad4bc3dae65a3f9f0b91c9ae3ac24c132cfb617b6d1cb2c4
+size 11865078