Release update 2026-11-05: 5760 sessions, instructions, annotations (part 133)

actions/human_human_locomanipulation/HH07/session_005/cameras/gsi_online_calibration.json

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actions/human_human_locomanipulation/HH07/session_005/cameras/slam.npz

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actions/human_human_locomanipulation/HH07/session_005/meta.json

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   "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)",
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+   "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",
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     "left": {
@@ -528,12 +528,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
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+  "generated_at_utc": "2026-11-03T17:39:47.501932+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": []
+ },
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   "family": "human_human_locomanipulation",
   "primitive": "HH07",
   "source_session": "20261024/HH07/20261024_071301_session2"
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+ },
  "objects": [
   {
    "name": "BigBox2",

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actions/human_human_locomanipulation/HH07/session_006/annotations.json

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+ "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",
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+  }
+ ]
+}

actions/human_human_locomanipulation/HH07/session_006/cameras/gsi_online_calibration.json

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actions/human_human_locomanipulation/HH07/session_006/meta.json

@@ -276,44 +276,44 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
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+  "generated_at_utc": "2026-10-28T23:22:10.854846+00:00",
   "generated_by": "scripts/canonicalise_dataset.py",
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@@ -325,20 +325,20 @@
   ],
   "block": "20261026-afternoon",
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@@ -358,7 +358,7 @@
   ]
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+  "generated_at_utc": "2026-10-29T04:51:18.773095+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
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@@ -367,8 +367,8 @@
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   "hands": {
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-   "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",
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@@ -416,8 +416,8 @@
   "valid_fraction": 0.9995,
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-    "p5": 13.5
+    "median": 18.3,
+    "p5": 13.0
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    "stature_mm": 1627.7
@@ -432,19 +432,19 @@
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     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
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+     "before": 120.36,
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@@ -452,15 +452,15 @@
      "LHandOut"
     ],
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+       12.6,
+       75.9
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+     "wrist_total_deg_median_after": 46.2,
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       "LWristIn",
@@ -471,19 +471,19 @@
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+     "before": 125.6,
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@@ -492,7 +492,7 @@
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@@ -508,7 +508,7 @@
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    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
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@@ -570,12 +570,126 @@
   },
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+ "hands_registration": {
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+      "tier": "primary",
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+     "smplx": NaN
+    },
+    "hand_marker_to_mesh_mm": {
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+     "registered": {
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+  "cameras_used": [
+   "head"
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+  "generated_at_utc": "2026-11-03T17:32:12.596860+00:00",
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+  "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/HH07/session_006",
   "family": "human_human_locomanipulation",
   "primitive": "HH07",
   "source_session": "20261026/HH07/20261026_070834_session28"
  },
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+  "instruction": "Together with your partner, lift the heavy box off the floor, hold it for a moment, then set it back down. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+ },
  "objects": [
   {
    "name": "BigBox2",

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actions/human_human_locomanipulation/HH07/session_007/annotations.json

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+{
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+ "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": "HH07",
+ "instruction": "Together with your partner, lift the heavy box off the floor, hold it for a moment, then set it back down. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it.",
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+   "video": "left_eye",
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+  },
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+  }
+ ]
+}

actions/human_human_locomanipulation/HH07/session_007/cameras/gsi_online_calibration.json

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+{
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+    "right_front",
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+ "version": 1
+}

actions/human_human_locomanipulation/HH07/session_007/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45bee90e864ba0ded5596484dfd260b299088a76f9720b0f4531020c43f0a3f6
+size 859338

actions/human_human_locomanipulation/HH07/session_007/meta.json

@@ -288,44 +288,44 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
  "canonical": {
-  "generated_at_utc": "2026-10-27T06:43:06.526596+00:00",
+  "generated_at_utc": "2026-10-28T23:22:12.459602+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)",
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    [
@@ -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": 36.7,
-   "headtop_p95_mm": 1560.5
+   "sole_marker_p1_mm": 43.6,
+   "headtop_p95_mm": 1566.4
   },
   "gravity_check": {
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    "g_world_mean_m_s2": [
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+    -0.0111,
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+    9.8501
    ],
-   "tilt_from_z_deg": 0.532,
+   "tilt_from_z_deg": 0.807,
    "tilt_from_z_deg_before_levelling": 0.691,
    "magnitude_m_s2": 9.8511
   },
@@ -370,7 +370,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-27T07:50:58.881458+00:00",
+  "generated_at_utc": "2026-10-29T04:51:43.160602+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": {
@@ -433,8 +433,8 @@
   "valid_fraction": 1.0,
   "qc": {
    "lowest_vertex_mm": {
-    "median": -0.6,
-    "p5": -1.4
+    "median": 4.0,
+    "p5": 3.1
    },
    "frames_checked": 600,
    "stature_mm": 1582.0
@@ -449,19 +449,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 180.0,
+    "Q_deg": 80.39,
     "Q_rotvec": [
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+     1.33986,
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     "in_out_sign": 1,
-    "wrist_bend_deg_median": 174.9,
-    "opposite_sign_bend_deg": 29.0,
+    "wrist_bend_deg_median": 104.7,
+    "opposite_sign_bend_deg": 86.0,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 1.7,
     "hand_vs_marker_frame_deg": {
-     "before": 178.84,
+     "before": 80.8,
      "after": 1.7
     },
     "markers_on_wrist": [
@@ -470,15 +470,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -173.19,
+     "twist_moved_deg": 103.13,
      "wrist_twist_deg_after": {
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+      "median": -0.0,
       "iqr": [
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-       0.1
+       -4.9,
+       1.8
       ]
      },
-     "wrist_total_deg_median_after": 22.3,
+     "wrist_total_deg_median_after": 22.0,
      "markers_on_forearm": [
       "LElbowIn",
       "LForearm",
@@ -489,19 +489,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 0.0,
+    "Q_deg": 131.6,
     "Q_rotvec": [
-     -0.0,
-     0.0,
-     -0.0
+     2.22318,
+     0.45789,
+     0.35134
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 30.9,
-    "opposite_sign_bend_deg": 174.2,
+    "wrist_bend_deg_median": 134.6,
+    "opposite_sign_bend_deg": 53.0,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 1.62,
     "hand_vs_marker_frame_deg": {
-     "before": 1.62,
+     "before": 131.94,
      "after": 1.62
     },
     "markers_on_wrist": [
@@ -510,9 +510,9 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -0.0,
+     "twist_moved_deg": -132.28,
      "wrist_twist_deg_after": {
-      "median": 0.0,
+      "median": -0.0,
       "iqr": [
        -8.5,
        5.3
@@ -527,16 +527,130 @@
     },
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+      "sha256": "c1edd25d9a849c3c03bd0aeb97e6d50c93d136e311d22a99baa6d760633903cc"
+    }
+  ],
+  "mocap_capture": {
+    "source_directory": "mocap-HH07-S02-gaoziyue-02p1",
+    "action_id": "HH07",
+    "collection_session_index": 2,
+    "participant": "gaoziyue",
+    "repetition_count": 2
+  },
+  "upload_batch_created_at": "2026-10-27T22:28:09.010125+08:00",
+  "participant_gender": "female",
+  "participant_height_cm": 160,
+  "participant_weight_kg": 56,
+  "collection_site": {
+    "id": "site_01",
+    "assignment_method": "env",
+    "catalog": "collection_sites.json"
+  }
+}