Release update 2026-11-05: 5760 sessions, instructions, annotations (part 109)

.gitattributes

@@ -42270,3 +42270,25 @@ actions/environment_coupled_wholebody/EC11/session_026/raw/sensors/robowrist_imu
 actions/environment_coupled_wholebody/EC11/session_026/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/environment_coupled_wholebody/EC11/session_026/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/environment_coupled_wholebody/EC11/session_026/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH01/session_009/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH01/session_009/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH01/session_009/raw/mocap/Body1.csv filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH01/session_009/raw/mocap/Body1.trc filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH01/session_009/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH01/session_009/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH01/session_009/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH01/session_009/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH01/session_009/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH01/session_009/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH01/session_009/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH01/session_010/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH01/session_010/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH01/session_010/raw/mocap/Body1.csv filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH01/session_010/raw/mocap/Body1.trc filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH01/session_010/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH01/session_010/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH01/session_010/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH01/session_010/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH01/session_010/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH01/session_010/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH01/session_010/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/human_human_locomanipulation/HH01/session_009/cameras/poses.npz

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actions/human_human_locomanipulation/HH01/session_009/meta.json

@@ -0,0 +1,540 @@
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+ "session_id": "20261027_072253_session9",
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+ "flags": [],
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+   "cameras_zup.npz",
+   "mocap_body1_zup.npz"
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+  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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+   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
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+ "release": {
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+  "family": "human_human_locomanipulation",
+  "primitive": "HH01",
+  "source_session": "20261027/HH01/20261027_072253_session9"
+ },
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+      -0.09294770658016205,
+      0.0014539193361997604,
+      0.03703054413199425
+     ],
+     "RHandOut": [
+      -0.07288011163473129,
+      0.01632680743932724,
+      -0.02324729785323143
+     ]
+    }
+   }
+  },
+  "marker_rmse_mm": {
+   "median_frame": 4.81,
+   "p95_frame": 8.8
+  },
+  "worst_markers": [
+   "RKneeIn 15mm",
+   "LElbowIn 12mm",
+   "LElbow 10mm",
+   "LWristIn 10mm",
+   "RElbow 9mm"
+  ],
+  "valid_fraction": 0.9994,
+  "qc": {
+   "lowest_vertex_mm": {
+    "median": 12.7,
+    "p5": 8.2
+   },
+   "frames_checked": 464,
+   "stature_mm": 1614.2
+  },
+  "surface_term": {
+   "weight": 1.0,
+   "marker_height_mm": 11.0,
+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 13.21
+  },
+  "shape_source": "participant median",
+  "wrist_correction": {
+   "left": {
+    "status": "corrected",
+    "Q_deg": 167.98,
+    "Q_rotvec": [
+     2.76719,
+     -0.1217,
+     -0.96095
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 154.5,
+    "opposite_sign_bend_deg": 43.7,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 3.75,
+    "hand_vs_marker_frame_deg": {
+     "before": 167.74,
+     "after": 3.75
+    },
+    "markers_on_wrist": [
+     "LWristIn",
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -151.93,
+     "wrist_twist_deg_after": {
+      "median": -0.34,
+      "iqr": [
+       -4.5,
+       7.0
+      ]
+     },
+     "wrist_total_deg_median_after": 48.4,
+     "markers_on_forearm": [
+      "LForearm",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1354
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 21.71,
+    "Q_rotvec": [
+     0.36094,
+     -0.0069,
+     -0.11519
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 33.0,
+    "opposite_sign_bend_deg": 153.5,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 2.63,
+    "hand_vs_marker_frame_deg": {
+     "before": 21.98,
+     "after": 2.63
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -31.05,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -4.6,
+       11.9
+      ]
+     },
+     "wrist_total_deg_median_after": 14.9,
+     "markers_on_forearm": [
+      "RElbowIn",
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1390
+   },
+   "generated_at_utc": "2026-11-03T15:01:08.649702+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "marker_relabel": {
+  "generated_at_utc": "2026-11-03T14:16:16.738203+00:00",
+  "generated_by": "scripts/relabel_marker_swaps.py",
+  "margin_s": 0.75,
+  "sides": {
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+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 2497,
+    "frames_flipped": 785,
+    "stretches": [
+     {
+      "t0": 31.32,
+      "t1": 58.97,
+      "dur_s": 27.65,
+      "marker_turn_deg": 166.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 136.7,
+      "err_swapped_deg": 20.8,
+      "calib_err_deg": 11.1,
+      "applied": true
+     }
+    ]
+   },
+   "right": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 3306,
+    "frames_flipped": 0,
+    "stretches": []
+   }
+  },
+  "applied": 1
+ },
+ "release": {
+  "release_path": "actions/human_human_locomanipulation/HH01/session_010",
+  "family": "human_human_locomanipulation",
+  "primitive": "HH01",
+  "source_session": "20261030/HH01/20261030_112754_session30"
+ },
+ "task": {
+  "primitive": "HH01",
+  "instruction": "Stand facing your partner about an arm and a half apart. Hand the object to them, then take it back when they hand it over. Keep repeating at your own pace until the operator says stop. Keep your feet on the marked spots."
+ },
+ "objects": [
+  {
+   "name": "LittleBox4",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "LittleBox5",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "LittleBox6",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  }
+ ]
+}

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