Release update 2026-11-05: 5760 sessions, instructions, annotations (part 107)

actions/human_human_locomanipulation/HH01/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": "HH01",
+ "instruction": "Stand facing your partner about an arm and a half apart. Hand the object to them, then take it back when they hand it over. Keep repeating at your own pace until the operator says stop. Keep your feet on the marked spots.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 108.766622,
+   "video": "left_eye",
+   "video_t_start": 0.04047882632473428
+  }
+ ],
+ "episodes": [
+  {
+   "id": "3aec988e-c2b0-4349-9668-982d1f351ace",
+   "segment": "segment1",
+   "action": "HH01",
+   "quality": "valid",
+   "start_s": 0.498,
+   "end_s": 56.402,
+   "t_start": 0.5385,
+   "t_end": 56.4425,
+   "instruction": "Stand facing your partner about an arm and a half apart. Hand the object to them, then take it back when they hand it over. Keep repeating at your own pace until the operator says stop. Keep your feet on the marked spots."
+  },
+  {
+   "id": "97d06470-2e18-4377-a121-7c94a84f755f",
+   "segment": "segment1",
+   "action": "HH01",
+   "quality": "valid",
+   "start_s": 56.402,
+   "end_s": 106.121,
+   "t_start": 56.4425,
+   "t_end": 106.1615,
+   "instruction": "Stand facing your partner about an arm and a half apart. Hand the object to them, then take it back when they hand it over. Keep repeating at your own pace until the operator says stop. Keep your feet on the marked spots."
+  }
+ ]
+}

actions/human_human_locomanipulation/HH01/session_003/cameras/gsi_online_calibration.json

@@ -0,0 +1,217 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.393
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.6693,
+   "gate_fail": [],
+   "held_out_px_after": 0.976,
+   "held_out_px_before": 20.292,
+   "inliers": 613,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.4565,
+    -0.3228,
+    -0.749
+   ],
+   "split_deg": 0.0437,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.3653,
+   "gate_fail": [],
+   "held_out_px_after": 0.401,
+   "held_out_px_before": 5.031,
+   "inliers": 4542,
+   "position_fitted": true,
+   "position_mm": [
+    -2.07,
+    -23.96,
+    -3.76
+   ],
+   "position_sigma_mm": 0.236,
+   "position_split_mm": 0.608,
+   "rotvec_deg": [
+    1.717,
+    -0.6414,
+    1.495
+   ],
+   "split_deg": 0.027,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 3.9037,
+   "gate_fail": [],
+   "held_out_px_after": 0.61,
+   "held_out_px_before": 8.59,
+   "inliers": 1821,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.8281,
+    -1.0937,
+    3.2711
+   ],
+   "split_deg": 0.0522,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 3.2791,
+   "gate_fail": [],
+   "held_out_px_after": 0.427,
+   "held_out_px_before": 6.325,
+   "inliers": 4657,
+   "position_fitted": true,
+   "position_mm": [
+    3.66,
+    -20.02,
+    -6.47
+   ],
+   "position_sigma_mm": 0.242,
+   "position_split_mm": 3.319,
+   "rotvec_deg": [
+    1.9046,
+    -1.1359,
+    2.4154
+   ],
+   "split_deg": 0.0527,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.3094,
+   "gate_fail": [],
+   "held_out_px_after": 0.372,
+   "held_out_px_before": 1.999,
+   "inliers": 4086,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.1925,
+    -0.2422,
+    0.0034
+   ],
+   "split_deg": 0.0317,
+   "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": "c83969850724d6e078f657f4dae68ad36b0eea3aa295218274b6b139935ae13c",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "2cc632b3c5ab43483632796935022a594b1b063c3aa3b1c67fb49be9a0f7334a",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "22b0d7239b36061c6167dbbdc5ca1f571e65617bab798bf3ef8997e20acf64ce",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "4999a92e4b746ad4ac98749c313943bdfa834f09ef35159451a30eb851dcbb66",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "7c69b160b2476ac6",
+ "kind": "online_calibration",
+ "output_sha256": "46e49b7a21537dd8f8a2c9bb8f40bd04043f28026259152d78a8b618bb1703ad",
+ "overlap": {
+  "left-right": 0.5,
+  "left_eye-left": 0.695,
+  "left_eye-right": 0.702,
+  "left_front-left": 0.506,
+  "left_front-left_eye": 0.692,
+  "left_front-right": 0.458,
+  "left_front-right_eye": 0.698,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.699,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.706,
+  "right_front-left": 0.49,
+  "right_front-left_eye": 0.697,
+  "right_front-right": 0.464,
+  "right_front-right_eye": 0.704
+ },
+ "picture_change": {
+  "left": 36.702,
+  "left_eye": 42.662,
+  "left_front": 45.573,
+  "right": 43.188,
+  "right_eye": 42.417,
+  "right_front": 44.648
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   5791491339888,
+   5792491351000,
+   5793491473222,
+   5794491362111,
+   5795491351000,
+   5796491317666,
+   5797491351000,
+   5798491395444,
+   5799491473222,
+   5800491362111,
+   5801491339888,
+   5802491317666,
+   5803491462111,
+   5804491317666,
+   5805491351000,
+   5806491351000
+  ]
+ },
+ "version": 1
+}

actions/human_human_locomanipulation/HH01/session_003/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db55f7a4012b25353b696a3880a753d16d99e2ee895962ed0a715085839d268a
+size 626690

actions/human_human_locomanipulation/HH01/session_003/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": {
@@ -684,12 +684,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 9.91,
+    "offset_rotvec": [
+     -0.0052,
+     -0.1307,
+     0.1133
+    ],
+    "dev_deg": {
+     "median": 14.77,
+     "p90": 29.2
+    },
+    "samples": 2876,
+    "accepted": 2617,
+    "wrist_pos_err_mm_median": 61.2,
+    "per_camera": {
+     "head": {
+      "samples": 2876,
+      "accepted": 2617,
+      "gate_deg": 30.0,
+      "offset_deg": 9.91,
+      "tier": "primary",
+      "dev_deg_median": 14.77,
+      "wrist_pos_err_mm_median": 61.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10644,
+     "interpolated": 2276,
+     "mean_hand": 137,
+     "no_body_fit": 3
+    },
+    "observed_fraction": 0.9893,
+    "observed_fraction_of_valid": 0.9895,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 15.77,
+     "smplx": 1.44
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.3,
+      "p90": 6.9
+     },
+     "registered": {
+      "median": 4.1,
+      "p90": 5.8
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 7.01,
+    "offset_rotvec": [
+     -0.0625,
+     0.0139,
+     -0.1042
+    ],
+    "dev_deg": {
+     "median": 11.73,
+     "p90": 23.82
+    },
+    "samples": 2883,
+    "accepted": 2767,
+    "wrist_pos_err_mm_median": 68.9,
+    "per_camera": {
+     "head": {
+      "samples": 2883,
+      "accepted": 2767,
+      "gate_deg": 30.0,
+      "offset_deg": 7.01,
+      "tier": "primary",
+      "dev_deg_median": 11.73,
+      "wrist_pos_err_mm_median": 68.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11212,
+     "interpolated": 1836,
+     "mean_hand": 9,
+     "no_body_fit": 3
+    },
+    "observed_fraction": 0.9991,
+    "observed_fraction_of_valid": 0.9993,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 10.31,
+     "smplx": 1.36
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 13.9,
+      "p90": 23.6
+     },
+     "registered": {
+      "median": 13.2,
+      "p90": 20.5
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T20:39:11.930383+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/HH01/session_003",
   "family": "human_human_locomanipulation",
   "primitive": "HH01",
   "source_session": "20261020/HH01/20261020_073957_session15"
  },
+ "task": {
+  "primitive": "HH01",
+  "instruction": "Stand facing your partner about an arm and a half apart. Hand the object to them, then take it back when they hand it over. Keep repeating at your own pace until the operator says stop. Keep your feet on the marked spots."
+ },
  "objects": [
   {
    "name": "LittleBox4",

actions/human_human_locomanipulation/HH01/session_003/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b52b8085567d0319930da7544a621f12a221a21f1ea364c098d18a1c120c14a
+size 3954640

actions/human_human_locomanipulation/HH01/session_003/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e36888e7e890ef2b5cbc949b286346dd58bd332a3202e266955b5627bbb83076
-size 5000695
+oid sha256:0233723410cf2b59ac26778635fdacd49c8b1d44941dbe7795bfc1033648ea3b
+size 9379158

actions/human_human_locomanipulation/HH01/session_004/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": "HH01",
+ "instruction": "Stand facing your partner about an arm and a half apart. Hand the object to them, then take it back when they hand it over. Keep repeating at your own pace until the operator says stop. Keep your feet on the marked spots.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 107.733422,
+   "video": "left_eye",
+   "video_t_start": 0.041715661282384214
+  }
+ ],
+ "episodes": [
+  {
+   "id": "a9cf7e79-1642-449f-9efa-6de9854ca7f5",
+   "segment": "segment1",
+   "action": "HH01",
+   "quality": "valid",
+   "start_s": 1.191,
+   "end_s": 52.875,
+   "t_start": 1.2327,
+   "t_end": 52.9167,
+   "instruction": "Stand facing your partner about an arm and a half apart. Hand the object to them, then take it back when they hand it over. Keep repeating at your own pace until the operator says stop. Keep your feet on the marked spots."
+  },
+  {
+   "id": "0c8fa8cf-d840-48ec-a0c8-437177361508",
+   "segment": "segment1",
+   "action": "HH01",
+   "quality": "valid",
+   "start_s": 53.684,
+   "end_s": 105.124,
+   "t_start": 53.7257,
+   "t_end": 105.1657,
+   "instruction": "Stand facing your partner about an arm and a half apart. Hand the object to them, then take it back when they hand it over. Keep repeating at your own pace until the operator says stop. Keep your feet on the marked spots."
+  }
+ ]
+}

actions/human_human_locomanipulation/HH01/session_004/cameras/gsi_online_calibration.json

@@ -0,0 +1,266 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 31,
+    "median_px": 519.97,
+    "pair": [
+     "left_front",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.445
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.6311,
+   "gate_fail": [],
+   "held_out_px_after": 0.614,
+   "held_out_px_before": 17.853,
+   "inliers": 1880,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.4672,
+    -0.1882,
+    -0.6873
+   ],
+   "split_deg": 0.0395,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.3788,
+   "gate_fail": [],
+   "held_out_px_after": 0.719,
+   "held_out_px_before": 8.066,
+   "inliers": 2102,
+   "position_fitted": true,
+   "position_mm": [
+    1.94,
+    -29.51,
+    -0.98
+   ],
+   "position_sigma_mm": 0.382,
+   "position_split_mm": 3.394,
+   "rotvec_deg": [
+    1.5253,
+    -0.7989,
+    1.6413
+   ],
+   "split_deg": 0.1466,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 3.1327,
+   "gate_fail": [],
+   "held_out_px_after": 0.691,
+   "held_out_px_before": 6.831,
+   "inliers": 460,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.5637,
+    -1.0698,
+    2.4948
+   ],
+   "split_deg": 0.0824,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 3.079,
+   "gate_fail": [],
+   "held_out_px_after": 0.464,
+   "held_out_px_before": 4.018,
+   "inliers": 2969,
+   "position_fitted": true,
+   "position_mm": [
+    0.73,
+    -20.93,
+    -1.7
+   ],
+   "position_sigma_mm": 0.369,
+   "position_split_mm": 4.7,
+   "rotvec_deg": [
+    1.7513,
+    -1.1312,
+    2.2658
+   ],
+   "split_deg": 0.0978,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.4453,
+   "gate_fail": [],
+   "held_out_px_after": 0.369,
+   "held_out_px_before": 2.441,
+   "inliers": 3581,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.1916,
+    -0.399,
+    -0.0485
+   ],
+   "split_deg": 0.0185,
+   "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": "89768617b3a94124335723aa7dd63ff8d44a4e212c3b82136db93abec7d66f48",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "c7b1c338ef21db55434fbc4ad0762d77799f6b53c71f0e086d8ccd2f1a38d1d3",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "fcbf61ef8c4f6d8bf96f81f201353a8c35bdcf13c897e5062884f72c0bcb8246",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "07d0b93627b6e0672fef999f7c1205a1a041ae3f36bd24cd06e2d6f95c0f28de",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "43ac9b04a10790b0",
+ "kind": "online_calibration",
+ "output_sha256": "531a9430b4857dba41cc12e7ab40c4b99977f61d7e4c837e6d71628d6d625f54",
+ "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": 55.266,
+  "left_eye": 45.73,
+  "left_front": 49.97,
+  "right": 53.006,
+  "right_eye": 50.508,
+  "right_front": 49.083
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   2186591901111,
+   2187591934444,
+   2190591912222,
+   2191591923333,
+   2196591923333,
+   2197591912222,
+   2198591923333,
+   2199591901111,
+   2201591912222,
+   2202591912222,
+   2204591901111,
+   2205591901111,
+   2210591890000,
+   2211591912222,
+   2213591912222,
+   2214591912222,
+   2216591901111,
+   2217591890000,
+   2218591890000,
+   2219591890000,
+   2224591912222,
+   2225591912222,
+   2226591901111,
+   2229591978888,
+   2230592034444,
+   2232591901111,
+   2233591934444,
+   2236591923333,
+   2237591912222,
+   2238591912222,
+   2239591901111,
+   2243591890000,
+   2244591890000,
+   2245591901111,
+   2246591901111,
+   2251591890000,
+   2252591890000,
+   2254591901111,
+   2255591901111,
+   2256591890000,
+   2257591912222,
+   2262591912222,
+   2264591923333,
+   2265591923333,
+   2268591923333,
+   2269591901111,
+   2270591912222,
+   2271591945555,
+   2276591912222,
+   2277591890000,
+   2278591912222,
+   2279591912222,
+   2283591901111,
+   2284591912222,
+   2285591934444,
+   2287591923333,
+   2288591890000
+  ]
+ },
+ "version": 1
+}

actions/human_human_locomanipulation/HH01/session_004/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b344862e65f61cee849e5c962f53830726cd2553a4128f4c8460ded596872d31
+size 618790

actions/human_human_locomanipulation/HH01/session_004/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": {
@@ -701,12 +701,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 12.27,
+    "offset_rotvec": [
+     0.1826,
+     -0.0811,
+     -0.0771
+    ],
+    "dev_deg": {
+     "median": 6.92,
+     "p90": 19.37
+    },
+    "samples": 3058,
+    "accepted": 2918,
+    "wrist_pos_err_mm_median": 22.9,
+    "per_camera": {
+     "head": {
+      "samples": 3058,
+      "accepted": 2918,
+      "gate_deg": 30.0,
+      "offset_deg": 12.27,
+      "tier": "primary",
+      "dev_deg_median": 6.92,
+      "wrist_pos_err_mm_median": 22.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11966,
+     "interpolated": 678,
+     "mean_hand": 292,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9774,
+    "observed_fraction_of_valid": 0.9774,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.5,
+     "smplx": 3.09
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.2,
+      "p90": 14.8
+     },
+     "registered": {
+      "median": 8.4,
+      "p90": 12.9
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 14.77,
+    "offset_rotvec": [
+     0.2433,
+     0.0836,
+     0.0153
+    ],
+    "dev_deg": {
+     "median": 10.32,
+     "p90": 29.21
+    },
+    "samples": 2916,
+    "accepted": 2644,
+    "wrist_pos_err_mm_median": 46.0,
+    "per_camera": {
+     "head": {
+      "samples": 2916,
+      "accepted": 2644,
+      "gate_deg": 30.0,
+      "offset_deg": 14.77,
+      "tier": "primary",
+      "dev_deg_median": 10.32,
+      "wrist_pos_err_mm_median": 46.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10844,
+     "interpolated": 1364,
+     "mean_hand": 728,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9437,
+    "observed_fraction_of_valid": 0.9437,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 14.56,
+     "smplx": 2.69
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.8,
+      "p90": 10.5
+     },
+     "registered": {
+      "median": 6.2,
+      "p90": 8.2
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T20:36:51.293578+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/HH01/session_004",
   "family": "human_human_locomanipulation",
   "primitive": "HH01",
   "source_session": "20261020/HH01/20261020_085146_session36"
  },
+ "task": {
+  "primitive": "HH01",
+  "instruction": "Stand facing your partner about an arm and a half apart. Hand the object to them, then take it back when they hand it over. Keep repeating at your own pace until the operator says stop. Keep your feet on the marked spots."
+ },
  "objects": [
   {
    "name": "LittleBox4",

actions/human_human_locomanipulation/HH01/session_004/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01c63b373890af7536fb9f502a0d96587db4461b9773dae335424b752dc4dbef
+size 4058201

actions/human_human_locomanipulation/HH01/session_004/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:067b297a22f4ddf643249aaeb4458ccf712518d1b3767e2a4508e1d4175ef149
-size 4911851
+oid sha256:e549fe5f6db1514a351f10503a97ae280886ecc73d395af5ae0e29801fc5109b
+size 9148031

actions/human_human_locomanipulation/HH01/session_005/cameras/gsi_online_calibration.json

@@ -0,0 +1,261 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 35,
+    "median_px": 145.67,
+    "pair": [
+     "right_front",
+     "left"
+    ]
+   }
+  ],
+  "groups_used": 13,
+  "median_px": 0.407
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.4499,
+   "gate_fail": [],
+   "held_out_px_after": 0.943,
+   "held_out_px_before": 21.652,
+   "inliers": 476,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.8328,
+    -0.307,
+    -1.1464
+   ],
+   "split_deg": 0.2075,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.0382,
+   "gate_fail": [],
+   "held_out_px_after": 0.6,
+   "held_out_px_before": 7.063,
+   "inliers": 2892,
+   "position_fitted": true,
+   "position_mm": [
+    -1.38,
+    -25.26,
+    -1.75
+   ],
+   "position_sigma_mm": 0.22,
+   "position_split_mm": 1.881,
+   "rotvec_deg": [
+    1.5774,
+    -0.5843,
+    1.151
+   ],
+   "split_deg": 0.1485,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.3444,
+   "gate_fail": [],
+   "held_out_px_after": 0.475,
+   "held_out_px_before": 9.57,
+   "inliers": 2223,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.586,
+    -1.1811,
+    2.6972
+   ],
+   "split_deg": 0.0422,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.9795,
+   "gate_fail": [],
+   "held_out_px_after": 0.48,
+   "held_out_px_before": 7.176,
+   "inliers": 3163,
+   "position_fitted": true,
+   "position_mm": [
+    2.62,
+    -22.0,
+    -1.01
+   ],
+   "position_sigma_mm": 0.149,
+   "position_split_mm": 0.91,
+   "rotvec_deg": [
+    1.7765,
+    -1.3455,
+    1.9777
+   ],
+   "split_deg": 0.0571,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 0.3664,
+   "gate_fail": [],
+   "held_out_px_after": 0.317,
+   "held_out_px_before": 1.812,
+   "inliers": 3236,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.1908,
+    -0.2359,
+    -0.2054
+   ],
+   "split_deg": 0.005,
+   "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": "d2bf6ef06d11bef7a21c1f9c0a1d34cb9a81a23ac5a1b7b19c0733e44a81f6e4",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "291fc64be1d92fa7c065dd82978400301f49566f5a3279bb9f82632295cad19a",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "60ae37ad0cbc20a1c19ab7638c601b74091e7c2dab685fa74facf8e4e9134014",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "199914edb0419909d6035aa9dd955b0180cc6c63756395e95fee308558748d32",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "bbdb8930a390c148",
+ "kind": "online_calibration",
+ "output_sha256": "d9127225d7fee059c2a7bea8e7a99a1e9506f23e12b77b7329038ffbaef573ee",
+ "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": 50.297,
+  "left_eye": 54.778,
+  "left_front": 51.669,
+  "right": 55.982,
+  "right_eye": 51.717,
+  "right_front": 46.572
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   3157569323111,
+   3158569434222,
+   3163569345333,
+   3164569323111,
+   3166569323111,
+   3167569323111,
+   3170569312000,
+   3171569323111,
+   3172569323111,
+   3177569300888,
+   3178569323111,
+   3181569334222,
+   3182569312000,
+   3183569323111,
+   3184569312000,
+   3187569312000,
+   3188569323111,
+   3191569323111,
+   3192569334222,
+   3194569445333,
+   3195569345333,
+   3197569323111,
+   3198569312000,
+   3200569312000,
+   3201569312000,
+   3206569300888,
+   3207569334222,
+   3208569323111,
+   3214569300888,
+   3215569334222,
+   3216569312000,
+   3217569323111,
+   3220569323111,
+   3221569334222,
+   3225569300888,
+   3226569323111,
+   3227569300888,
+   3232569323111,
+   3233569323111,
+   3234569334222,
+   3235569312000,
+   3239569323111,
+   3240569312000,
+   3242569312000,
+   3243569323111,
+   3246569345333,
+   3247569323111,
+   3248569323111,
+   3253569323111,
+   3254569323111,
+   3256569345333,
+   3257569323111,
+   3261569300888,
+   3262569312000,
+   3263569345333
+  ]
+ },
+ "version": 1
+}

actions/human_human_locomanipulation/HH01/session_005/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad640423ba09cb1f06409fee9753ad6026d5a839b4e76722868e4b815afc0dea
+size 646876

actions/human_human_locomanipulation/HH01/session_005/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": {
@@ -523,12 +523,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 15.18,
+    "offset_rotvec": [
+     0.1536,
+     0.0314,
+     -0.2135
+    ],
+    "dev_deg": {
+     "median": 10.49,
+     "p90": 21.03
+    },
+    "samples": 3313,
+    "accepted": 3267,
+    "wrist_pos_err_mm_median": 60.7,
+    "per_camera": {
+     "head": {
+      "samples": 3313,
+      "accepted": 3267,
+      "gate_deg": 30.0,
+      "offset_deg": 15.18,
+      "tier": "primary",
+      "dev_deg_median": 10.49,
+      "wrist_pos_err_mm_median": 60.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13196,
+     "interpolated": 332,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9991,
+    "observed_fraction_of_valid": 0.9991,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 15.22,
+     "smplx": 1.43
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 15.8,
+      "p90": 19.7
+     },
+     "registered": {
+      "median": 14.1,
+      "p90": 17.5
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 23.59,
+    "offset_rotvec": [
+     0.1248,
+     -0.1173,
+     0.3744
+    ],
+    "dev_deg": {
+     "median": 7.77,
+     "p90": 15.85
+    },
+    "samples": 3257,
+    "accepted": 3236,
+    "wrist_pos_err_mm_median": 40.3,
+    "per_camera": {
+     "head": {
+      "samples": 3257,
+      "accepted": 3236,
+      "gate_deg": 30.0,
+      "offset_deg": 23.59,
+      "tier": "primary",
+      "dev_deg_median": 7.77,
+      "wrist_pos_err_mm_median": 40.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13068,
+     "interpolated": 244,
+     "mean_hand": 228,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9832,
+    "observed_fraction_of_valid": 0.9832,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 16.12,
+     "smplx": 1.09
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 14.4,
+      "p90": 30.2
+     },
+     "registered": {
+      "median": 14.2,
+      "p90": 30.0
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T18:29:14.287506+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/HH01/session_005",
   "family": "human_human_locomanipulation",
   "primitive": "HH01",
   "source_session": "20261022/HH01/20261022_074127_session9"
  },
+ "task": {
+  "primitive": "HH01",
+  "instruction": "Stand facing your partner about an arm and a half apart. Hand the object to them, then take it back when they hand it over. Keep repeating at your own pace until the operator says stop. Keep your feet on the marked spots."
+ },
  "objects": [
   {
    "name": "LittleBox1",

actions/human_human_locomanipulation/HH01/session_005/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6843184f88758236bafbd4536b1b08268820845b3ffae421178795a2705525f7
+size 4442855

actions/human_human_locomanipulation/HH01/session_005/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8cfeca197702bb8696a5e906befe3ff4967c2182a4f25ee32c19b4cfa31b1112
-size 5154877
+oid sha256:a3236d9d42b149d4f6a1278cb84b930dd5c6fa1e132afaa55853f269cb3968a8
+size 9684572