Release update 2026-11-05: 5760 sessions, instructions, annotations (part 151)

actions/human_human_locomanipulation/HH14/session_004/cameras/gsi_online_calibration.json

@@ -0,0 +1,212 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.439
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.3415,
+   "gate_fail": [],
+   "held_out_px_after": 0.819,
+   "held_out_px_before": 22.587,
+   "inliers": 466,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.8339,
+    -0.1354,
+    -1.042
+   ],
+   "split_deg": 0.1182,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.2258,
+   "gate_fail": [],
+   "held_out_px_after": 0.509,
+   "held_out_px_before": 7.263,
+   "inliers": 1502,
+   "position_fitted": true,
+   "position_mm": [
+    -0.1,
+    -27.17,
+    -2.02
+   ],
+   "position_sigma_mm": 0.47,
+   "position_split_mm": 4.061,
+   "rotvec_deg": [
+    1.7111,
+    -0.7013,
+    1.2387
+   ],
+   "split_deg": 0.171,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.3199,
+   "gate_fail": [],
+   "held_out_px_after": 0.631,
+   "held_out_px_before": 7.403,
+   "inliers": 778,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.5611,
+    -1.2811,
+    2.6351
+   ],
+   "split_deg": 0.1288,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 3.1293,
+   "gate_fail": [],
+   "held_out_px_after": 0.434,
+   "held_out_px_before": 6.117,
+   "inliers": 1700,
+   "position_fitted": true,
+   "position_mm": [
+    2.14,
+    -20.72,
+    -3.35
+   ],
+   "position_sigma_mm": 0.32,
+   "position_split_mm": 0.739,
+   "rotvec_deg": [
+    1.9001,
+    -1.3962,
+    2.0574
+   ],
+   "split_deg": 0.113,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.4455,
+   "gate_fail": [],
+   "held_out_px_after": 0.371,
+   "held_out_px_before": 2.308,
+   "inliers": 1698,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2432,
+    -0.3554,
+    -0.1139
+   ],
+   "split_deg": 0.07,
+   "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": "0bf457978cf6c6c20ea7afa8b7a3ffb78d5af1d486b3c6142227fabc0c8b1855",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "d9dca572c055d4f6740b8e17763f05f2c5c175747c929bca7d1b6d09822ad94b",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "d4f3500f0c94bcafadc0738ff0e808cd26b60734595ff488ab5cf0f876537b17",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "617d99211829091c19478965f62f3a04cff444f9975ef1199934dffc8f07e3c7",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "6133889840c73081",
+ "kind": "online_calibration",
+ "output_sha256": "6add30bed4ba031cbc66426c6ed5152aa2fdaa58a90d4c870b91006dcb62c0d5",
+ "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": 33.612,
+  "left_eye": 35.451,
+  "left_front": 43.415,
+  "right": 33.578,
+  "right_eye": 36.88,
+  "right_front": 42.434
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   4287360043000,
+   4288360043000,
+   4289360031888,
+   4290360043000,
+   4291360031888,
+   4292360054111,
+   4293360054111,
+   4294360043000,
+   4295360120777,
+   4296360043000,
+   4297360043000,
+   4298360043000,
+   4299360031888
+  ]
+ },
+ "version": 1
+}

actions/human_human_locomanipulation/HH14/session_004/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10013c114b83671e576688972bc6756c406940786202dc3ca0490ed4a897d79a
+size 747739

actions/human_human_locomanipulation/HH14/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": {
@@ -518,12 +518,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 11.46,
+    "offset_rotvec": [
+     0.1997,
+     0.0107,
+     -0.003
+    ],
+    "dev_deg": {
+     "median": 7.47,
+     "p90": 12.02
+    },
+    "samples": 3829,
+    "accepted": 3783,
+    "wrist_pos_err_mm_median": 25.7,
+    "per_camera": {
+     "head": {
+      "samples": 3829,
+      "accepted": 3783,
+      "gate_deg": 30.0,
+      "offset_deg": 11.46,
+      "tier": "primary",
+      "dev_deg_median": 7.47,
+      "wrist_pos_err_mm_median": 25.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15156,
+     "interpolated": 160,
+     "mean_hand": 288,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9815,
+    "observed_fraction_of_valid": 0.9815,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.53,
+     "smplx": 3.06
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 14.7,
+      "p90": 18.3
+     },
+     "registered": {
+      "median": 14.7,
+      "p90": 17.9
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 9.94,
+    "offset_rotvec": [
+     0.0244,
+     0.1663,
+     -0.043
+    ],
+    "dev_deg": {
+     "median": 6.88,
+     "p90": 9.95
+    },
+    "samples": 3808,
+    "accepted": 3808,
+    "wrist_pos_err_mm_median": 48.6,
+    "per_camera": {
+     "head": {
+      "samples": 3808,
+      "accepted": 3808,
+      "gate_deg": 30.0,
+      "offset_deg": 9.94,
+      "tier": "primary",
+      "dev_deg_median": 6.88,
+      "wrist_pos_err_mm_median": 48.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15244,
+     "interpolated": 16,
+     "mean_hand": 344,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.978,
+    "observed_fraction_of_valid": 0.978,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 8.67,
+     "smplx": 1.43
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 13.4,
+      "p90": 14.9
+     },
+     "registered": {
+      "median": 12.8,
+      "p90": 14.6
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:39:33.660053+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/HH14/session_004",
   "family": "human_human_locomanipulation",
   "primitive": "HH14",
   "source_session": "20261024/HH14/20261024_075519_session20"
  },
+ "task": {
+  "primitive": "HH14",
+  "instruction": "Lift the box off the floor and up onto the shelf. Your partner will help you if you ask them to. 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/HH14/session_004/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa47bce641fe35d1b8c2a2edd92162697c57f10e12fa8b12c127b661652c7f36
+size 5192956

actions/human_human_locomanipulation/HH14/session_004/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b661b39d1e0d89722cff2e7aeb26a7a196b3caf97ba34f45438dddc404b64e5a
-size 5974371
+oid sha256:2fc243f9ecaa8becd21cfed5af68ab6aadf6bb3fb3f767edf057e6b4d3baf66b
+size 11134527

actions/human_human_locomanipulation/HH14/session_005/cameras/gsi_online_calibration.json

@@ -0,0 +1,266 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 30,
+    "median_px": 592.91,
+    "pair": [
+     "left_front",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 13,
+  "median_px": 0.41
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.7124,
+   "gate_fail": [],
+   "held_out_px_after": 0.452,
+   "held_out_px_before": 21.205,
+   "inliers": 2612,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.1332,
+    -0.3239,
+    -1.2423
+   ],
+   "split_deg": 0.0183,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.3619,
+   "gate_fail": [],
+   "held_out_px_after": 0.479,
+   "held_out_px_before": 9.717,
+   "inliers": 4626,
+   "position_fitted": true,
+   "position_mm": [
+    2.89,
+    -28.33,
+    -5.2
+   ],
+   "position_sigma_mm": 0.143,
+   "position_split_mm": 0.879,
+   "rotvec_deg": [
+    1.6765,
+    -0.8769,
+    1.4138
+   ],
+   "split_deg": 0.0179,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.9348,
+   "gate_fail": [],
+   "held_out_px_after": 0.65,
+   "held_out_px_before": 10.524,
+   "inliers": 751,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.9333,
+    -1.1137,
+    3.2411
+   ],
+   "split_deg": 0.1237,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 3.029,
+   "gate_fail": [],
+   "held_out_px_after": 0.434,
+   "held_out_px_before": 4.997,
+   "inliers": 4308,
+   "position_fitted": true,
+   "position_mm": [
+    2.73,
+    -18.82,
+    -1.32
+   ],
+   "position_sigma_mm": 0.253,
+   "position_split_mm": 0.736,
+   "rotvec_deg": [
+    1.796,
+    -1.3938,
+    2.0017
+   ],
+   "split_deg": 0.01,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.5402,
+   "gate_fail": [],
+   "held_out_px_after": 0.344,
+   "held_out_px_before": 2.751,
+   "inliers": 3398,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.1979,
+    -0.4752,
+    -0.164
+   ],
+   "split_deg": 0.0085,
+   "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": "3262c844f7ff8410fd8752afcc09d0df4edc0a4466862bf776209a7857f53d16",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "b5eec953efeb44519dde9f0ee0526249069299285621f4b2df920cff6580b226",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "3b77ad50ae8df8687d61689b399db45b794f5f0647b3178b61a2c1560032b365",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "4cc2f59b17f589e65a6e58512aa7b59fdc315fc78b9e3386b32b6205d91dca21",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "46e0e83b96dd5250",
+ "kind": "online_calibration",
+ "output_sha256": "27dbd46e90f8c7373ed9197016a904a5998446c6fd357ff7a8c679484ff48cb2",
+ "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": 32.767,
+  "left_eye": 31.874,
+  "left_front": 31.553,
+  "right": 31.837,
+  "right_eye": 30.372,
+  "right_front": 30.316
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   1157756071666,
+   1158756082777,
+   1162756093888,
+   1163756116111,
+   1166756127222,
+   1167756082777,
+   1172756127222,
+   1173756105000,
+   1177756093888,
+   1178756171666,
+   1182756127222,
+   1183756082777,
+   1185756082777,
+   1186756105000,
+   1187756105000,
+   1188756127222,
+   1195756116111,
+   1196756116111,
+   1197756105000,
+   1198756105000,
+   1203756171666,
+   1204756116111,
+   1207756105000,
+   1208756071666,
+   1212756093888,
+   1213756260555,
+   1215756105000,
+   1216756182777,
+   1218756127222,
+   1219756082777,
+   1221756082777,
+   1222756227222,
+   1226756127222,
+   1227756116111,
+   1230756105000,
+   1231756082777,
+   1238756127222,
+   1239756171666,
+   1240756105000,
+   1243756227222,
+   1244756116111,
+   1248756082777,
+   1249756160555,
+   1251756238333,
+   1252756116111,
+   1257756205000,
+   1258756082777,
+   1261756082777,
+   1262756138333,
+   1264756093888,
+   1265756105000,
+   1268756116111,
+   1269756071666,
+   1274756127222,
+   1275756082777,
+   1279756127222,
+   1280756116111,
+   1282756160555,
+   1283756105000
+  ]
+ },
+ "version": 1
+}

actions/human_human_locomanipulation/HH14/session_005/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0ad38a1571888b67cd2617988d94ee42aa86421383af4b155346c03c6d03ed9
+size 752221

actions/human_human_locomanipulation/HH14/session_005/meta.json

@@ -642,6 +642,10 @@
   "primitive": "HH14",
   "source_session": "20261024/HH14/20261024_083428_session5"
  },
+ "task": {
+  "primitive": "HH14",
+  "instruction": "Lift the box off the floor and up onto the shelf. Your partner will help you if you ask them to. 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/HH14/session_005/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6971b89149d136e052910bb2dd35215e3e112804b2cf42e94ed06e63e8c6763d
+size 4802626