Release update 2026-11-05: 5760 sessions, instructions, annotations (part 121)

actions/human_human_locomanipulation/HH03/session_017/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": "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.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 126.866589,
+   "video": "left_eye",
+   "video_t_start": 0.03987150722263719
+  }
+ ],
+ "episodes": [
+  {
+   "id": "75031a41-81f7-477e-a855-060e45c8e888",
+   "segment": "segment1",
+   "action": "HH03",
+   "quality": "valid",
+   "start_s": 1.158,
+   "end_s": 10.325,
+   "t_start": 1.1979,
+   "t_end": 10.3649,
+   "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."
+  },
+  {
+   "id": "1902df9a-022c-4591-97f8-225059b6bac7",
+   "segment": "segment1",
+   "action": "HH03",
+   "quality": "valid",
+   "start_s": 10.337,
+   "end_s": 17.094,
+   "t_start": 10.3769,
+   "t_end": 17.1339,
+   "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."
+  },
+  {
+   "id": "fc3958db-5171-416d-a07a-6d2e19555b69",
+   "segment": "segment1",
+   "action": "HH03",
+   "quality": "valid",
+   "start_s": 20.365,
+   "end_s": 30.013,
+   "t_start": 20.4049,
+   "t_end": 30.0529,
+   "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."
+  },
+  {
+   "id": "aedc8711-432a-455e-9852-514f1648d441",
+   "segment": "segment1",
+   "action": "HH03",
+   "quality": "valid",
+   "start_s": 30.486,
+   "end_s": 37.689,
+   "t_start": 30.5259,
+   "t_end": 37.7289,
+   "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."
+  },
+  {
+   "id": "d4cc03e8-0c10-429f-aa6b-4814f03888cd",
+   "segment": "segment1",
+   "action": "HH03",
+   "quality": "valid",
+   "start_s": 42.143,
+   "end_s": 52.751,
+   "t_start": 42.1829,
+   "t_end": 52.7909,
+   "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."
+  },
+  {
+   "id": "3a54a3ca-9b2b-4e6d-9427-67c8a1cdf50c",
+   "segment": "segment1",
+   "action": "HH03",
+   "quality": "valid",
+   "start_s": 54.639,
+   "end_s": 61.623,
+   "t_start": 54.6789,
+   "t_end": 61.6629,
+   "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."
+  },
+  {
+   "id": "c7c5e790-7051-474e-8f0f-f9157f1a5df6",
+   "segment": "segment1",
+   "action": "HH03",
+   "quality": "valid",
+   "start_s": 66.214,
+   "end_s": 73.916,
+   "t_start": 66.2539,
+   "t_end": 73.9559,
+   "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."
+  },
+  {
+   "id": "6d4902a8-7cdb-4b24-a985-9871bea825d2",
+   "segment": "segment1",
+   "action": "HH03",
+   "quality": "valid",
+   "start_s": 76.814,
+   "end_s": 84.344,
+   "t_start": 76.8539,
+   "t_end": 84.3839,
+   "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."
+  },
+  {
+   "id": "0f94c791-aa01-494a-b0e0-03f9902e8994",
+   "segment": "segment1",
+   "action": "HH03",
+   "quality": "valid",
+   "start_s": 88.341,
+   "end_s": 96.235,
+   "t_start": 88.3809,
+   "t_end": 96.2749,
+   "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."
+  },
+  {
+   "id": "5a6655c9-7f80-4b88-9a3e-67d5bf26d0a8",
+   "segment": "segment1",
+   "action": "HH03",
+   "quality": "valid",
+   "start_s": 98.583,
+   "end_s": 107.255,
+   "t_start": 98.6229,
+   "t_end": 107.2949,
+   "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."
+  },
+  {
+   "id": "aa463be0-b841-48a4-9c51-d1cc8351bb9e",
+   "segment": "segment1",
+   "action": "HH03",
+   "quality": "valid",
+   "start_s": 112.576,
+   "end_s": 119.985,
+   "t_start": 112.6159,
+   "t_end": 120.0249,
+   "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."
+  }
+ ]
+}

actions/human_human_locomanipulation/HH03/session_017/cameras/gsi_online_calibration.json

@@ -0,0 +1,250 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.355
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.6778,
+   "gate_fail": [],
+   "held_out_px_after": 0.45,
+   "held_out_px_before": 21.065,
+   "inliers": 2066,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.251,
+    -0.1947,
+    -1.101
+   ],
+   "split_deg": 0.0286,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.3168,
+   "gate_fail": [],
+   "held_out_px_after": 0.359,
+   "held_out_px_before": 10.993,
+   "inliers": 3623,
+   "position_fitted": true,
+   "position_mm": [
+    0.88,
+    -26.39,
+    -1.81
+   ],
+   "position_sigma_mm": 0.112,
+   "position_split_mm": 0.297,
+   "rotvec_deg": [
+    1.6067,
+    -0.903,
+    1.4038
+   ],
+   "split_deg": 0.0202,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 4.3428,
+   "gate_fail": [],
+   "held_out_px_after": 1.008,
+   "held_out_px_before": 13.658,
+   "inliers": 1243,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.4372,
+    -1.4311,
+    3.2972
+   ],
+   "split_deg": 0.1518,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.849,
+   "gate_fail": [],
+   "held_out_px_after": 0.361,
+   "held_out_px_before": 5.235,
+   "inliers": 3678,
+   "position_fitted": true,
+   "position_mm": [
+    0.14,
+    -23.88,
+    -0.24
+   ],
+   "position_sigma_mm": 0.106,
+   "position_split_mm": 0.154,
+   "rotvec_deg": [
+    1.683,
+    -1.364,
+    1.8504
+   ],
+   "split_deg": 0.0048,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.6101,
+   "gate_fail": [],
+   "held_out_px_after": 0.321,
+   "held_out_px_before": 2.598,
+   "inliers": 3924,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2303,
+    -0.4576,
+    -0.3313
+   ],
+   "split_deg": 0.0207,
+   "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": "36e82cd5aeebcb606e45ecd75e7a06dab7c2fdd63974cb69000a3da60f6f5b8e",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "19f1c956be2ea2378eddfa3c51275d8156139cadb581ca10fde375b35bde03ea",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "2496e7882fa1d6fbd1cfbf653b38b32eb242919c0ba5fe72d113081745816155",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "c80c5363c39eb8db4288001c5e9febff09d3c372366b57686cbdc5dec4d38f6a",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "5351eac421e007a0",
+ "kind": "online_calibration",
+ "output_sha256": "3856a9ca3ea4c5479de407aa4da0b7a604312669c204082ad283c997ddcd5cba",
+ "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": 39.134,
+  "left_eye": 38.346,
+  "left_front": 42.229,
+  "right": 35.54,
+  "right_eye": 38.618,
+  "right_front": 40.668
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   8454155018888,
+   8455155030000,
+   8457155030000,
+   8458155018888,
+   8459155018888,
+   8460155018888,
+   8461155018888,
+   8463155018888,
+   8464155018888,
+   8465155018888,
+   8467155018888,
+   8468155030000,
+   8469155107777,
+   8470155174444,
+   8471155018888,
+   8473155063333,
+   8474155063333,
+   8475155041111,
+   8476155096666,
+   8478155052222,
+   8479155030000,
+   8480155041111,
+   8481155030000,
+   8482155074444,
+   8484155107777,
+   8485155041111,
+   8486155030000,
+   8487155030000,
+   8488155063333,
+   8490155174444,
+   8491155041111,
+   8492155018888,
+   8493155174444,
+   8494155052222,
+   8495155063333,
+   8496155074444,
+   8497155052222,
+   8498155063333,
+   8499155018888,
+   8501155030000,
+   8502155096666,
+   8503155052222,
+   8505155030000,
+   8506155074444,
+   8507155174444,
+   8508155063333,
+   8509155052222,
+   8510155030000,
+   8511155163333
+  ]
+ },
+ "version": 1
+}

actions/human_human_locomanipulation/HH03/session_017/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c170a4da6c758c4008cd9c1f9a0f44978927903a0284d5a64cd9e0f787d65ce6
+size 729082

actions/human_human_locomanipulation/HH03/session_017/meta.json

@@ -288,44 +288,44 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
  "canonical": {
-  "generated_at_utc": "2026-10-27T06:43:02.304962+00:00",
+  "generated_at_utc": "2026-10-28T23:22:06.268754+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": 30.5,
-   "headtop_p95_mm": 1624.3
+   "headtop_p95_mm": 1630.0
   },
   "gravity_check": {
    "static_samples": 2501,
    "g_world_mean_m_s2": [
-    -0.0328,
-    0.0484,
-    9.7718
+    -0.0787,
+    0.1018,
+    9.7711
    ],
-   "tilt_from_z_deg": 0.343,
+   "tilt_from_z_deg": 0.754,
    "tilt_from_z_deg_before_levelling": 0.896,
    "magnitude_m_s2": 9.772
   },
@@ -370,7 +370,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-27T20:48:14.660853+00:00",
+  "generated_at_utc": "2026-10-29T04:43:39.892627+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -423,8 +423,8 @@
   "valid_fraction": 1.0,
   "qc": {
    "lowest_vertex_mm": {
-    "median": 1.8,
-    "p5": -3.7
+    "median": 5.7,
+    "p5": -3.2
    },
    "frames_checked": 508,
    "stature_mm": 1627.7
@@ -439,19 +439,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 0.0,
+    "Q_deg": 170.6,
     "Q_rotvec": [
-     -0.0,
-     -0.0,
-     0.0
+     2.97737,
+     0.02322,
+     -0.02622
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 19.2,
-    "opposite_sign_bend_deg": 176.2,
+    "wrist_bend_deg_median": 151.0,
+    "opposite_sign_bend_deg": 37.7,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.52,
     "hand_vs_marker_frame_deg": {
-     "before": 2.52,
+     "before": 170.47,
      "after": 2.52
     },
     "markers_on_wrist": [
@@ -459,12 +459,12 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -0.21,
+     "twist_moved_deg": -149.57,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": -0.21,
       "iqr": [
-       -4.9,
-       4.4
+       -5.1,
+       4.2
       ]
      },
      "wrist_total_deg_median_after": 19.6,
@@ -478,19 +478,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 0.0,
+    "Q_deg": 39.71,
     "Q_rotvec": [
-     0.0,
-     0.0,
-     -0.0
+     0.42406,
+     0.53668,
+     -0.11224
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 24.0,
-    "opposite_sign_bend_deg": 175.5,
+    "wrist_bend_deg_median": 41.0,
+    "opposite_sign_bend_deg": 149.5,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.45,
     "hand_vs_marker_frame_deg": {
-     "before": 2.45,
+     "before": 39.72,
      "after": 2.45
     },
     "markers_on_wrist": [
@@ -498,9 +498,9 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -0.0,
+     "twist_moved_deg": -33.81,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": 0.0,
       "iqr": [
        -2.7,
        7.8
@@ -515,7 +515,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-28T06:50:25.378828+00:00",
+   "generated_at_utc": "2026-10-29T04:43:42.844747+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -616,6 +616,10 @@
   "primitive": "HH03",
   "source_session": "20261026/HH03/20261026_071427_session30"
  },
+ "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",

actions/human_human_locomanipulation/HH03/session_017/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22fb1da05ff240577a2c0d15a4b7511b3fd13e814ccded362b8a664d85e6d56c
+size 5025015

actions/human_human_locomanipulation/HH03/session_017/motions/head_rig.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e33d14ac4d57c5745b26ebb04c3815686c3ec3a15f708b1fff5ecd413eff69c6
-size 1129573
+oid sha256:1966b3b4d173d036aaa192220ae4e54c02cbb3b8030be3f1aeddaea37adb0b76
+size 1130184

actions/human_human_locomanipulation/HH03/session_017/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:753f8be5ee1528e26e8e751715e6d12cc3d156126fc058a37e6d80ac41c97284
-size 5864263
+oid sha256:731da6407b7700682e9ff300abc9a250aa07d6ec5b45df3ecfbc0ba2c88065c9
+size 5864380

actions/human_human_locomanipulation/HH03/session_018/annotations.json

@@ -0,0 +1,127 @@
+{
+ "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": "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.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 147.100078,
+   "video": "left_eye",
+   "video_t_start": 0.040213502013616745
+  }
+ ],
+ "episodes": [
+  {
+   "id": "ad68a56d-37e0-42ec-b0b1-b6b85fd3c13f",
+   "segment": "segment1",
+   "action": "HH03",
+   "quality": "valid",
+   "start_s": 0.729,
+   "end_s": 12.664,
+   "t_start": 0.7692,
+   "t_end": 12.7042,
+   "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."
+  },
+  {
+   "id": "2cd41637-577e-484b-ae21-c27e6a284985",
+   "segment": "segment1",
+   "action": "HH03",
+   "quality": "valid",
+   "start_s": 13.981,
+   "end_s": 25.062,
+   "t_start": 14.0212,
+   "t_end": 25.1022,
+   "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."
+  },
+  {
+   "id": "6df00447-3378-49e1-8458-006c69e496a7",
+   "segment": "segment1",
+   "action": "HH03",
+   "quality": "valid",
+   "start_s": 28.761,
+   "end_s": 37.357,
+   "t_start": 28.8012,
+   "t_end": 37.3972,
+   "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."
+  },
+  {
+   "id": "e1fcf22c-be2a-4092-aebb-e7c247c77f82",
+   "segment": "segment1",
+   "action": "HH03",
+   "quality": "valid",
+   "start_s": 43.856,
+   "end_s": 52.43,
+   "t_start": 43.8962,
+   "t_end": 52.4702,
+   "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."
+  },
+  {
+   "id": "84173c93-6af9-4e64-8c82-fa5301cef4c9",
+   "segment": "segment1",
+   "action": "HH03",
+   "quality": "valid",
+   "start_s": 58.073,
+   "end_s": 66.466,
+   "t_start": 58.1132,
+   "t_end": 66.5062,
+   "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."
+  },
+  {
+   "id": "eb6b543e-d47b-4229-a5a6-ca75b45530dc",
+   "segment": "segment1",
+   "action": "HH03",
+   "quality": "valid",
+   "start_s": 71.516,
+   "end_s": 80.149,
+   "t_start": 71.5562,
+   "t_end": 80.1892,
+   "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."
+  },
+  {
+   "id": "50054de7-72b1-44ce-8ee5-1b4a6bc87727",
+   "segment": "segment1",
+   "action": "HH03",
+   "quality": "valid",
+   "start_s": 84.994,
+   "end_s": 94.009,
+   "t_start": 85.0342,
+   "t_end": 94.0492,
+   "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."
+  },
+  {
+   "id": "26a219d1-408f-4033-a170-23d42bae9700",
+   "segment": "segment1",
+   "action": "HH03",
+   "quality": "valid",
+   "start_s": 100.532,
+   "end_s": 108.385,
+   "t_start": 100.5722,
+   "t_end": 108.4252,
+   "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."
+  },
+  {
+   "id": "43889de2-f21b-4c6b-a30a-72471588d8e4",
+   "segment": "segment1",
+   "action": "HH03",
+   "quality": "valid",
+   "start_s": 116.512,
+   "end_s": 124.871,
+   "t_start": 116.5522,
+   "t_end": 124.9112,
+   "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."
+  },
+  {
+   "id": "3cb80a0c-60fa-4225-92f8-294dd502a624",
+   "segment": "segment1",
+   "action": "HH03",
+   "quality": "valid",
+   "start_s": 131.596,
+   "end_s": 139.849,
+   "t_start": 131.6362,
+   "t_end": 139.8892,
+   "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."
+  }
+ ]
+}

actions/human_human_locomanipulation/HH03/session_018/cameras/gsi_online_calibration.json

@@ -0,0 +1,248 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.356
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.6522,
+   "gate_fail": [],
+   "held_out_px_after": 0.634,
+   "held_out_px_before": 21.983,
+   "inliers": 1553,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.0719,
+    -0.2035,
+    -1.2407
+   ],
+   "split_deg": 0.1065,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.147,
+   "gate_fail": [],
+   "held_out_px_after": 0.386,
+   "held_out_px_before": 11.855,
+   "inliers": 2997,
+   "position_fitted": true,
+   "position_mm": [
+    0.78,
+    -26.64,
+    -1.17
+   ],
+   "position_sigma_mm": 0.051,
+   "position_split_mm": 0.068,
+   "rotvec_deg": [
+    1.5011,
+    -0.7324,
+    1.349
+   ],
+   "split_deg": 0.0285,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.7778,
+   "gate_fail": [],
+   "held_out_px_after": 0.622,
+   "held_out_px_before": 14.347,
+   "inliers": 1422,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.7116,
+    -1.0562,
+    3.198
+   ],
+   "split_deg": 0.0828,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.7533,
+   "gate_fail": [],
+   "held_out_px_after": 0.415,
+   "held_out_px_before": 5.152,
+   "inliers": 2872,
+   "position_fitted": true,
+   "position_mm": [
+    -0.05,
+    -24.86,
+    0.76
+   ],
+   "position_sigma_mm": 0.056,
+   "position_split_mm": 0.319,
+   "rotvec_deg": [
+    1.4971,
+    -1.2716,
+    1.9292
+   ],
+   "split_deg": 0.0109,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.5053,
+   "gate_fail": [],
+   "held_out_px_after": 0.291,
+   "held_out_px_before": 2.373,
+   "inliers": 3789,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2608,
+    -0.3408,
+    -0.2667
+   ],
+   "split_deg": 0.0177,
+   "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": "dc65787b2f582b298a4d33a0d93f7fb0649cc0be602c0b6f1c4f2bc82eced274",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "33bb4d6bf8cc7ee887da519d7c65b1ab466dd2496ee4856884ed9696f8b5fb22",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "57e785ead8e5184e85e63a6559d08f0c6ddf5eaf774feb342c34209df35bd547",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "4693165b503adeee464bb429fc205c3e5fbb2c4c76bcb79bc917fdd0db73ef51",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "eee08c95bf8f3d92",
+ "kind": "online_calibration",
+ "output_sha256": "67dac83e9e361cf7075c5935e0d9b009a68e2686df7ceecb6be7fb8369bff85a",
+ "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": 39.623,
+  "left_eye": 37.244,
+  "left_front": 45.237,
+  "right": 37.816,
+  "right_eye": 36.481,
+  "right_front": 44.059
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   12621379495666,
+   12622379506777,
+   12623379484555,
+   12624379629000,
+   12625379517888,
+   12626379473444,
+   12627379484555,
+   12628379473444,
+   12629379484555,
+   12631379495666,
+   12632379473444,
+   12633379573444,
+   12634379473444,
+   12635379473444,
+   12636379506777,
+   12637379495666,
+   12638379629000,
+   12639379484555,
+   12640379506777,
+   12641379506777,
+   12642379506777,
+   12643379495666,
+   12645379617888,
+   12646379562333,
+   12647379506777,
+   12648379495666,
+   12649379529000,
+   12650379562333,
+   12652379506777,
+   12653379629000,
+   12654379506777,
+   12655379506777,
+   12656379495666,
+   12657379640111,
+   12658379473444,
+   12659379484555,
+   12660379484555,
+   12661379662333,
+   12662379484555,
+   12663379473444,
+   12664379629000,
+   12666379484555,
+   12667379495666,
+   12668379606777,
+   12669379506777,
+   12670379506777,
+   12671379506777,
+   12672379562333,
+   12673379651222
+  ]
+ },
+ "version": 1
+}

actions/human_human_locomanipulation/HH03/session_018/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee1a49a0a64db61e038f607cdc1c04d29c877fbc79c43bf533a56e7f383691b2
+size 842811

actions/human_human_locomanipulation/HH03/session_018/meta.json

@@ -288,44 +288,44 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
  "canonical": {
-  "generated_at_utc": "2026-10-27T06:43:03.010133+00:00",
+  "generated_at_utc": "2026-10-28T23:22:06.316735+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": 35.6,
-   "headtop_p95_mm": 1563.2
+   "sole_marker_p1_mm": 38.1,
+   "headtop_p95_mm": 1569.6
   },
   "gravity_check": {
    "static_samples": 9366,
    "g_world_mean_m_s2": [
-    -0.0026,
-    0.0165,
-    9.7742
+    -0.0485,
+    0.0699,
+    9.7739
    ],
-   "tilt_from_z_deg": 0.098,
+   "tilt_from_z_deg": 0.499,
    "tilt_from_z_deg_before_levelling": 0.671,
    "magnitude_m_s2": 9.7742
   },
@@ -370,7 +370,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-27T20:49:22.938896+00:00",
+  "generated_at_utc": "2026-10-29T04:45:24.422996+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": {
@@ -423,8 +423,8 @@
   "valid_fraction": 0.9913,
   "qc": {
    "lowest_vertex_mm": {
-    "median": -7.7,
-    "p5": -13.2
+    "median": -1.3,
+    "p5": -10.1
    },
    "frames_checked": 584,
    "stature_mm": 1582.0
@@ -439,19 +439,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 0.0,
+    "Q_deg": 28.86,
     "Q_rotvec": [
-     0.0,
-     0.0,
-     -0.0
+     -0.35192,
+     -0.19641,
+     0.30214
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 22.6,
-    "opposite_sign_bend_deg": 172.6,
+    "wrist_bend_deg_median": 37.1,
+    "opposite_sign_bend_deg": 158.1,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 3.26,
     "hand_vs_marker_frame_deg": {
-     "before": 3.26,
+     "before": 27.99,
      "after": 3.26
     },
     "markers_on_wrist": [
@@ -459,9 +459,9 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 0.0,
+     "twist_moved_deg": 29.46,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": 0.0,
       "iqr": [
        -7.2,
        4.0
@@ -479,19 +479,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 0.0,
+    "Q_deg": 37.79,
     "Q_rotvec": [
-     -0.0,
-     0.0,
-     -0.0
+     0.58921,
+     0.26262,
+     -0.13732
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 27.8,
-    "opposite_sign_bend_deg": 173.8,
+    "wrist_bend_deg_median": 37.1,
+    "opposite_sign_bend_deg": 160.4,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.3,
     "hand_vs_marker_frame_deg": {
-     "before": 2.3,
+     "before": 37.63,
      "after": 2.3
     },
     "markers_on_wrist": [
@@ -499,7 +499,7 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -0.0,
+     "twist_moved_deg": -25.31,
      "wrist_twist_deg_after": {
       "median": -0.0,
       "iqr": [
@@ -517,7 +517,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-28T06:50:25.997557+00:00",
+   "generated_at_utc": "2026-10-29T04:45:27.605092+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -590,12 +590,126 @@
   },
   "applied": 4
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 3.66,
+    "offset_rotvec": [
+     0.0619,
+     0.0032,
+     0.0154
+    ],
+    "dev_deg": {
+     "median": 20.63,
+     "p90": 64.51
+    },
+    "samples": 3205,
+    "accepted": 2174,
+    "wrist_pos_err_mm_median": 326.3,
+    "per_camera": {
+     "head": {
+      "samples": 3205,
+      "accepted": 2174,
+      "gate_deg": 30.0,
+      "offset_deg": 3.66,
+      "tier": "primary",
+      "dev_deg_median": 20.63,
+      "wrist_pos_err_mm_median": 326.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 8756,
+     "interpolated": 2088,
+     "mean_hand": 6662,
+     "no_body_fit": 154
+    },
+    "observed_fraction": 0.614,
+    "observed_fraction_of_valid": 0.6194,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 11.8,
+     "smplx": NaN
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": NaN,
+      "p90": NaN
+     },
+     "registered": {
+      "median": NaN,
+      "p90": NaN
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 15.9,
+    "offset_rotvec": [
+     -0.0421,
+     -0.2563,
+     -0.0978
+    ],
+    "dev_deg": {
+     "median": 15.12,
+     "p90": 36.72
+    },
+    "samples": 3764,
+    "accepted": 3195,
+    "wrist_pos_err_mm_median": 317.4,
+    "per_camera": {
+     "head": {
+      "samples": 3764,
+      "accepted": 3195,
+      "gate_deg": 30.0,
+      "offset_deg": 15.9,
+      "tier": "primary",
+      "dev_deg_median": 15.12,
+      "wrist_pos_err_mm_median": 317.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12852,
+     "interpolated": 1236,
+     "mean_hand": 3418,
+     "no_body_fit": 154
+    },
+    "observed_fraction": 0.7977,
+    "observed_fraction_of_valid": 0.8048,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 19.97,
+     "smplx": 1.27
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 15.1,
+      "p90": 26.2
+     },
+     "registered": {
+      "median": 14.4,
+      "p90": 24.6
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:32:39.027205+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/HH03/session_018",
   "family": "human_human_locomanipulation",
   "primitive": "HH03",
   "source_session": "20261026/HH03/20261026_082354_session52"
  },
+ "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": "LittleBox1",

actions/human_human_locomanipulation/HH03/session_018/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a28ef99e2a31444f90f7684d871de4abb798b01d804ee9bdbfb1ef1b44857be
+size 4755693

actions/human_human_locomanipulation/HH03/session_018/motions/head_rig.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:51289a479b6ecf3c8b3c0c93ecd5115a0d0fd41102db7699429e4f1ced936ca0
-size 1295744
+oid sha256:eb7155a80a3d2d3fc6b5d9610a43df03e81ee47bd4a90b0386a8da881d135454
+size 1295856

actions/human_human_locomanipulation/HH03/session_018/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:74a61ee80c2b728f54563cbf93b6a32e7aa8c2707fef0eeeb6e495c9d946c5ce
-size 6694494
+oid sha256:73029d9fefde308a609bbc5b05823afcb0e72379807ab20274ec5c936b52302c
+size 11211218

actions/human_human_locomanipulation/HH03/session_019/annotations.json

@@ -0,0 +1,105 @@
+{
+ "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": "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.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 127.699978,
+   "video": "left_eye",
+   "video_t_start": 0.0397717245364991
+  }
+ ],
+ "episodes": [
+  {
+   "id": "e9dad12e-382f-4f7b-8703-cb37b7174f17",
+   "segment": "segment1",
+   "action": "HH03",
+   "quality": "valid",
+   "start_s": 1.63,
+   "end_s": 9.397,
+   "t_start": 1.6698,
+   "t_end": 9.4368,
+   "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."
+  },
+  {
+   "id": "d7065f9b-9a6a-4823-a084-af1fce3eed6b",
+   "segment": "segment1",
+   "action": "HH03",
+   "quality": "valid",
+   "start_s": 17.198,
+   "end_s": 26.851,
+   "t_start": 17.2378,
+   "t_end": 26.8908,
+   "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."
+  },
+  {
+   "id": "860a8d21-6762-4bea-8695-b719b2baf7de",
+   "segment": "segment1",
+   "action": "HH03",
+   "quality": "valid",
+   "start_s": 34.56,
+   "end_s": 45.053,
+   "t_start": 34.5998,
+   "t_end": 45.0928,
+   "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."
+  },
+  {
+   "id": "3f884393-752c-443a-be46-5a9779fbd0f4",
+   "segment": "segment1",
+   "action": "HH03",
+   "quality": "valid",
+   "start_s": 52.29,
+   "end_s": 60.875,
+   "t_start": 52.3298,
+   "t_end": 60.9148,
+   "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."
+  },
+  {
+   "id": "2ea8929f-1509-44e2-a53b-78ea10743b2f",
+   "segment": "segment1",
+   "action": "HH03",
+   "quality": "valid",
+   "start_s": 68.851,
+   "end_s": 77.902,
+   "t_start": 68.8908,
+   "t_end": 77.9418,
+   "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."
+  },
+  {
+   "id": "d5ddc68c-c3da-4187-ac0a-7604f6a32cae",
+   "segment": "segment1",
+   "action": "HH03",
+   "quality": "valid",
+   "start_s": 84.703,
+   "end_s": 92.587,
+   "t_start": 84.7428,
+   "t_end": 92.6268,
+   "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."
+  },
+  {
+   "id": "3f8f52e0-c31b-43cf-a081-9c35d7dc5123",
+   "segment": "segment1",
+   "action": "HH03",
+   "quality": "valid",
+   "start_s": 98.964,
+   "end_s": 106.498,
+   "t_start": 99.0038,
+   "t_end": 106.5378,
+   "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."
+  },
+  {
+   "id": "051fef06-d52b-48f9-b436-e24d34e87f6a",
+   "segment": "segment1",
+   "action": "HH03",
+   "quality": "valid",
+   "start_s": 113.014,
+   "end_s": 121.626,
+   "t_start": 113.0538,
+   "t_end": 121.6658,
+   "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."
+  }
+ ]
+}

actions/human_human_locomanipulation/HH03/session_019/cameras/gsi_online_calibration.json

@@ -0,0 +1,261 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 54,
+    "median_px": 4.35,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.339
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.6868,
+   "gate_fail": [],
+   "held_out_px_after": 0.653,
+   "held_out_px_before": 19.103,
+   "inliers": 1713,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.9974,
+    -0.2697,
+    -1.3333
+   ],
+   "split_deg": 0.0719,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.1456,
+   "gate_fail": [],
+   "held_out_px_after": 0.368,
+   "held_out_px_before": 9.795,
+   "inliers": 3426,
+   "position_fitted": true,
+   "position_mm": [
+    0.35,
+    -26.67,
+    -1.9
+   ],
+   "position_sigma_mm": 0.079,
+   "position_split_mm": 0.33,
+   "rotvec_deg": [
+    1.5607,
+    -0.7163,
+    1.2865
+   ],
+   "split_deg": 0.045,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.9964,
+   "gate_fail": [],
+   "held_out_px_after": 0.691,
+   "held_out_px_before": 14.169,
+   "inliers": 1631,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.9478,
+    -1.1787,
+    3.2845
+   ],
+   "split_deg": 0.1692,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.7914,
+   "gate_fail": [],
+   "held_out_px_after": 0.356,
+   "held_out_px_before": 5.732,
+   "inliers": 3667,
+   "position_fitted": true,
+   "position_mm": [
+    0.06,
+    -24.71,
+    0.41
+   ],
+   "position_sigma_mm": 0.08,
+   "position_split_mm": 0.338,
+   "rotvec_deg": [
+    1.5439,
+    -1.3434,
+    1.8984
+   ],
+   "split_deg": 0.0355,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.5914,
+   "gate_fail": [],
+   "held_out_px_after": 0.274,
+   "held_out_px_before": 2.35,
+   "inliers": 4976,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2486,
+    -0.4294,
+    -0.3217
+   ],
+   "split_deg": 0.0034,
+   "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": "08a653ef6c1d41e3585c37438bda5bff0f92e5ed7c4d41a4a1fe1b8d0606f5c2",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "22bb0cecb6a322f989d5af983e3a154a9fa4114d00aceb97f0e8b42d44c34ba2",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "c70647c0e279666ba2f856068d5f013fc7d3ae15fe6aefb09f45903ae0a1d20f",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "fd2482bc78a992c718557d22ed1a15382530f37c5f8d69308a17f87edf008aab",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "4271e369a2891c24",
+ "kind": "online_calibration",
+ "output_sha256": "f8078b06a66a68a394360670588092624d387715d9e76d8157670fe246b768cb",
+ "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": 39.455,
+  "left_eye": 37.55,
+  "left_front": 46.404,
+  "right": 38.962,
+  "right_eye": 37.261,
+  "right_front": 44.622
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   12780840182444,
+   12781840171333,
+   12788840182444,
+   12789840182444,
+   12790840204666,
+   12796840182444,
+   12797840215777,
+   12798840215777,
+   12804840226888,
+   12805840226888,
+   12806840193555,
+   12807840193555,
+   12812840215777,
+   12813840249111,
+   12814840215777,
+   12815840215777,
+   12821840215777,
+   12822840226888,
+   12825840238000,
+   12826840215777,
+   12829840260222,
+   12830840215777,
+   12831840193555,
+   12838840193555,
+   12839840238000,
+   12841840271333,
+   12842840193555,
+   12846840338000,
+   12847840226888,
+   12850840182444,
+   12851840238000,
+   12852840193555,
+   12858840193555,
+   12859840193555,
+   12863840215777,
+   12864840204666,
+   12865840215777,
+   12871840204666,
+   12872840193555,
+   12873840215777,
+   12877840215777,
+   12878840338000,
+   12884840193555,
+   12885840182444,
+   12886840215777,
+   12887840338000,
+   12892840193555,
+   12893840193555,
+   12894840260222,
+   12899840193555,
+   12900840282444,
+   12901840260222,
+   12902840193555
+  ]
+ },
+ "version": 1
+}

actions/human_human_locomanipulation/HH03/session_019/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:573bf35ef466ef9b91b2215f3b9105be7b5ca224860f9f5330c5d79829b2e431
+size 731938

actions/human_human_locomanipulation/HH03/session_019/meta.json

@@ -269,44 +269,44 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
  "canonical": {
-  "generated_at_utc": "2026-10-27T06:43:02.563614+00:00",
+  "generated_at_utc": "2026-10-28T23:22:06.279463+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
    ],
    [
@@ -318,20 +318,20 @@
   ],
   "block": "20261026-afternoon",
   "block_assignment": "trc",
-  "tilt_removed_deg": 0.6422895637056524,
+  "tilt_removed_deg": 0.458414067009704,
   "plane_status": "ok",
   "floor": {
-   "sole_marker_p1_mm": 34.5,
-   "headtop_p95_mm": 1563.3
+   "sole_marker_p1_mm": 38.5,
+   "headtop_p95_mm": 1567.7
   },
   "gravity_check": {
    "static_samples": 8206,
    "g_world_mean_m_s2": [
-    0.0187,
-    -0.0107,
-    9.777
+    -0.0272,
+    0.0427,
+    9.7769
    ],
-   "tilt_from_z_deg": 0.126,
+   "tilt_from_z_deg": 0.297,
    "tilt_from_z_deg_before_levelling": 0.531,
    "magnitude_m_s2": 9.777
   },
@@ -351,7 +351,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-27T20:48:20.209339+00:00",
+  "generated_at_utc": "2026-10-29T04:44:56.837610+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -360,8 +360,8 @@
   "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": {
@@ -404,8 +404,8 @@
   "valid_fraction": 0.9995,
   "qc": {
    "lowest_vertex_mm": {
-    "median": -9.2,
-    "p5": -13.6
+    "median": -3.9,
+    "p5": -10.9
    },
    "frames_checked": 511,
    "stature_mm": 1582.0
@@ -420,19 +420,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 0.0,
+    "Q_deg": 18.26,
     "Q_rotvec": [
-     0.0,
-     0.0,
-     -0.0
+     -0.15368,
+     -0.10747,
+     0.25766
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 28.1,
-    "opposite_sign_bend_deg": 172.2,
+    "wrist_bend_deg_median": 45.9,
+    "opposite_sign_bend_deg": 150.5,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 3.13,
     "hand_vs_marker_frame_deg": {
-     "before": 3.13,
+     "before": 17.97,
      "after": 3.13
     },
     "markers_on_wrist": [
@@ -440,12 +440,12 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 0.57,
+     "twist_moved_deg": 37.43,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": 0.57,
       "iqr": [
-       -6.8,
-       4.4
+       -6.2,
+       4.9
       ]
      },
      "wrist_total_deg_median_after": 28.1,
@@ -459,19 +459,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 0.0,
+    "Q_deg": 35.74,
     "Q_rotvec": [
-     -0.0,
-     0.0,
-     -0.0
+     0.5593,
+     0.26614,
+     -0.07382
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 29.0,
-    "opposite_sign_bend_deg": 173.8,
+    "wrist_bend_deg_median": 53.5,
+    "opposite_sign_bend_deg": 141.1,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.65,
     "hand_vs_marker_frame_deg": {
-     "before": 2.65,
+     "before": 35.75,
      "after": 2.65
     },
     "markers_on_wrist": [
@@ -479,7 +479,7 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -0.0,
+     "twist_moved_deg": -45.92,
      "wrist_twist_deg_after": {
       "median": -0.0,
       "iqr": [
@@ -497,7 +497,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-28T06:50:26.097728+00:00",
+   "generated_at_utc": "2026-10-29T04:44:59.831172+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -548,12 +548,126 @@
   },
   "applied": 1
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 12.07,
+    "offset_rotvec": [
+     -0.1537,
+     -0.0211,
+     -0.1426
+    ],
+    "dev_deg": {
+     "median": 19.53,
+     "p90": 92.03
+    },
+    "samples": 2657,
+    "accepted": 1787,
+    "wrist_pos_err_mm_median": 95.2,
+    "per_camera": {
+     "head": {
+      "samples": 2657,
+      "accepted": 1787,
+      "gate_deg": 30.0,
+      "offset_deg": 12.07,
+      "tier": "primary",
+      "dev_deg_median": 19.53,
+      "wrist_pos_err_mm_median": 95.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 7146,
+     "interpolated": 866,
+     "mean_hand": 7312,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.5226,
+    "observed_fraction_of_valid": 0.5228,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 11.52,
+     "smplx": 1.42
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 12.1,
+      "p90": 19.5
+     },
+     "registered": {
+      "median": 12.2,
+      "p90": 17.3
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 14.94,
+    "offset_rotvec": [
+     -0.0905,
+     -0.2427,
+     -0.0291
+    ],
+    "dev_deg": {
+     "median": 14.83,
+     "p90": 31.41
+    },
+    "samples": 3154,
+    "accepted": 2802,
+    "wrist_pos_err_mm_median": 49.1,
+    "per_camera": {
+     "head": {
+      "samples": 3154,
+      "accepted": 2802,
+      "gate_deg": 30.0,
+      "offset_deg": 14.94,
+      "tier": "primary",
+      "dev_deg_median": 14.83,
+      "wrist_pos_err_mm_median": 49.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11327,
+     "interpolated": 1820,
+     "mean_hand": 2177,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.8575,
+    "observed_fraction_of_valid": 0.8579,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 19.31,
+     "smplx": 1.56
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 12.4,
+      "p90": 24.2
+     },
+     "registered": {
+      "median": 12.0,
+      "p90": 23.2
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:32:33.000907+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/HH03/session_019",
   "family": "human_human_locomanipulation",
   "primitive": "HH03",
   "source_session": "20261026/HH03/20261026_082634_session53"
  },
+ "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": "LittleBox1",

actions/human_human_locomanipulation/HH03/session_019/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc1fca159627e28ef54739e8e00213ad4b049861f17116dd757561bc8aec1686
+size 3936353

actions/human_human_locomanipulation/HH03/session_019/motions/head_rig.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2859d7b0e3c92ed73704f6efd5a3a02e4a00a39df3e73be86a249b67b2b48047
-size 1122863
+oid sha256:d380ccde4a13806f9c2766d2b53d6292e14e1198854eeca94e81f46e13b91202
+size 1123141

actions/human_human_locomanipulation/HH03/session_019/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ad8f227e139163ccc6874173c11c0d13cd126692b77852e1f9de3a9e7c607a20
-size 5853125
+oid sha256:c005e7e8cc0b493a4787f2a9331d33add73c1d7378859a3e9a93956997aeb165
+size 9701755