Release update 2026-11-05: 5760 sessions, instructions, annotations (part 120)

actions/human_human_locomanipulation/HH03/session_014/cameras/gsi_online_calibration.json

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actions/human_human_locomanipulation/HH03/session_014/cameras/slam.npz

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actions/human_human_locomanipulation/HH03/session_014/meta.json

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   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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     "left": {
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+ },
  "objects": [
   {
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actions/human_human_locomanipulation/HH03/session_015/cameras/slam.npz

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actions/human_human_locomanipulation/HH03/session_015/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": {
@@ -560,12 +560,126 @@
   },
   "applied": 2
  },
+ "hands_registration": {
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+    "accepted": 2856,
+    "wrist_pos_err_mm_median": 65.2,
+    "per_camera": {
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+      "offset_deg": 14.2,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 65.2
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+     "interpolated": 2566,
+     "mean_hand": 548,
+     "no_body_fit": 0
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+    "observed_fraction": 0.9629,
+    "observed_fraction_of_valid": 0.9629,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 2.19
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 7.4
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+      "p90": 7.6
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+  "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/HH03/session_015",
   "family": "human_human_locomanipulation",
   "primitive": "HH03",
   "source_session": "20261024/HH03/20261024_084344_session8"
  },
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+ },
  "objects": [
   {
    "name": "LittleBox1",

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+size 3408954

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-size 5681711
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actions/human_human_locomanipulation/HH03/session_016/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",
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+  },
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+  }
+ ]
+}

actions/human_human_locomanipulation/HH03/session_016/cameras/gsi_online_calibration.json

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actions/human_human_locomanipulation/HH03/session_016/cameras/slam.npz

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actions/human_human_locomanipulation/HH03/session_016/meta.json

@@ -276,44 +276,44 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
  "canonical": {
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   "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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+    -1.5185e-05,
+    0.0046800169,
+    -0.9999890485
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-    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
    ],
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-    4.351e-09,
-    -7.78141e-07,
-    -0.000999999697,
+    -1.5185e-08,
+    4.680017e-06,
+    -0.000999989049,
     0.0
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-    -1.1182793e-05,
-    0.000999937168,
-    -7.78141e-07,
+    -6.489178e-06,
+    0.000999967993,
+    4.680017e-06,
     0.0
    ],
    [
@@ -325,20 +325,20 @@
   ],
   "block": "20261026-afternoon",
   "block_assignment": "trc",
-  "tilt_removed_deg": 0.6422895637056524,
+  "tilt_removed_deg": 0.458414067009704,
   "plane_status": "ok",
   "floor": {
-   "sole_marker_p1_mm": 31.6,
-   "headtop_p95_mm": 1624.6
+   "sole_marker_p1_mm": 29.6,
+   "headtop_p95_mm": 1631.5
   },
   "gravity_check": {
    "static_samples": 2057,
    "g_world_mean_m_s2": [
-    -0.0815,
-    0.0228,
-    9.7261
+    -0.1272,
+    0.0759,
+    9.7254
    ],
-   "tilt_from_z_deg": 0.499,
+   "tilt_from_z_deg": 0.873,
    "tilt_from_z_deg_before_levelling": 1.135,
    "magnitude_m_s2": 9.7265
   },
@@ -358,7 +358,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-27T20:48:09.235269+00:00",
+  "generated_at_utc": "2026-10-29T04:43:37.029714+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -411,8 +411,8 @@
   "valid_fraction": 0.9995,
   "qc": {
    "lowest_vertex_mm": {
-    "median": 6.1,
-    "p5": 1.2
+    "median": 9.7,
+    "p5": -2.2
    },
    "frames_checked": 516,
    "stature_mm": 1627.7
@@ -427,19 +427,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 0.0,
+    "Q_deg": 139.59,
     "Q_rotvec": [
-     -0.0,
-     -0.0,
-     0.0
+     -2.41706,
+     0.26618,
+     0.15034
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 20.4,
-    "opposite_sign_bend_deg": 176.1,
+    "wrist_bend_deg_median": 146.1,
+    "opposite_sign_bend_deg": 40.6,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.7,
     "hand_vs_marker_frame_deg": {
-     "before": 2.7,
+     "before": 140.16,
      "after": 2.7
     },
     "markers_on_wrist": [
@@ -447,12 +447,12 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -0.27,
+     "twist_moved_deg": -144.55,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": -0.27,
       "iqr": [
-       -4.0,
-       6.4
+       -4.3,
+       6.2
       ]
      },
      "wrist_total_deg_median_after": 22.0,
@@ -467,19 +467,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 0.0,
+    "Q_deg": 45.1,
     "Q_rotvec": [
-     0.0,
-     0.0,
-     -0.0
+     0.45363,
+     0.59586,
+     -0.24235
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 24.0,
-    "opposite_sign_bend_deg": 175.5,
+    "wrist_bend_deg_median": 44.7,
+    "opposite_sign_bend_deg": 144.9,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 3.6,
     "hand_vs_marker_frame_deg": {
-     "before": 3.6,
+     "before": 45.09,
      "after": 3.6
     },
     "markers_on_wrist": [
@@ -487,9 +487,9 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -0.0,
+     "twist_moved_deg": -38.71,
      "wrist_twist_deg_after": {
-      "median": 0.0,
+      "median": -0.0,
       "iqr": [
        -3.3,
        6.5
@@ -504,7 +504,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-28T06:50:24.156408+00:00",
+   "generated_at_utc": "2026-10-29T04:43:39.980373+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -638,6 +638,10 @@
   "primitive": "HH03",
   "source_session": "20261026/HH03/20261026_071202_session29"
  },
+ "task": {
+  "primitive": "HH03",
+  "instruction": "You and your partner will both keep walking. Pass the object to them as you meet in the middle, without either of you stopping. Turn around at the ends and do it again. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+ },
  "objects": [
   {
    "name": "LittleBox4",

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