Release update 2026-11-05: 5760 sessions, instructions, annotations (part 84)

.gitattributes

@@ -41918,3 +41918,30 @@ actions/environment_coupled_wholebody/EC08/session_025/raw/sensors/robowrist_imu
 actions/environment_coupled_wholebody/EC08/session_025/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/environment_coupled_wholebody/EC08/session_025/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/environment_coupled_wholebody/EC08/session_025/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_012/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_012/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_012/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_012/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_012/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_012/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_012/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_012/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_012/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_013/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_013/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_013/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_013/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_013/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_013/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_013/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_013/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_013/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_014/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_014/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_014/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_014/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_014/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_014/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_014/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_014/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC09/session_014/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/environment_coupled_wholebody/EC09/session_011/annotations.json

@@ -0,0 +1,28 @@
+{
+ "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": "EC09",
+ "instruction": "Push the cart across the room and back. The operator will change how much is loaded on it between takes and will tell you each time.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 139.100056,
+   "video": "left_eye",
+   "video_t_start": 0.03948650925737285
+  }
+ ],
+ "episodes": [
+  {
+   "id": "a29b934e-057f-4df2-a746-cfcd0ac0c106",
+   "segment": "segment1",
+   "action": "EC09",
+   "quality": "valid",
+   "start_s": 0.89,
+   "end_s": 136.358,
+   "t_start": 0.9295,
+   "t_end": 136.3975,
+   "instruction": "Push the cart across the room and back. The operator will change how much is loaded on it between takes and will tell you each time."
+  }
+ ]
+}

actions/environment_coupled_wholebody/EC09/session_011/cameras/gsi_online_calibration.json

@@ -0,0 +1,253 @@
+{
+ "camera_fit": {
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+  "groups_used": 14,
+  "median_px": 0.388
+ },
+ "cameras": {
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+    "right_eye",
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+   "usable": true
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+  "left_front": {
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+   "against": [
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+    "right_front",
+    "left_eye",
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+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
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+  },
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+  },
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+ "input_fingerprint": "fb7877d48413e930",
+ "kind": "online_calibration",
+ "output_sha256": "c0157dae9f17d4b7dc4e16e0c4e0f41cccc2452352cbd0a93ba7ba4e8f9354ea",
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+  "left_front": 40.079,
+  "right": 42.855,
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actions/environment_coupled_wholebody/EC09/session_011/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc14c8ee65766843495d6e2e0bc519920e1a3ccb0d074eba9bd22fcd1d99826e
+size 799881

actions/environment_coupled_wholebody/EC09/session_011/meta.json

@@ -275,44 +275,44 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
  "canonical": {
-  "generated_at_utc": "2026-10-27T06:42:58.525785+00:00",
+  "generated_at_utc": "2026-10-28T23:21:54.129756+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": [
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   "T_canon_nokov_mm": [
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-    1.167712e-05,
-    -7.958e-09,
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    [
@@ -324,20 +324,20 @@
   ],
   "block": "20261026-morning",
   "block_assignment": "trc",
-  "tilt_removed_deg": 0.6736075582400546,
+  "tilt_removed_deg": 0.6697930607742368,
   "plane_status": "ok",
   "floor": {
-   "sole_marker_p1_mm": 28.9,
-   "headtop_p95_mm": 1652.4
+   "sole_marker_p1_mm": 29.1,
+   "headtop_p95_mm": 1652.9
   },
   "gravity_check": {
    "static_samples": 1824,
    "g_world_mean_m_s2": [
-    -0.0784,
-    -0.0235,
+    -0.0785,
+    -0.0177,
     9.7713
    ],
-   "tilt_from_z_deg": 0.48,
+   "tilt_from_z_deg": 0.472,
    "tilt_from_z_deg_before_levelling": 1.13,
    "magnitude_m_s2": 9.7716
   },
@@ -356,7 +356,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-27T07:34:37.031419+00:00",
+  "generated_at_utc": "2026-10-29T04:33:16.906598+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -365,8 +365,8 @@
   "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": {
@@ -425,19 +425,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 180.0,
+    "Q_deg": 55.1,
     "Q_rotvec": [
-     -2.98662,
-     0.4392,
-     0.86995
+     0.90546,
+     -0.32354,
+     0.02043
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 175.0,
-    "opposite_sign_bend_deg": 20.3,
+    "wrist_bend_deg_median": 59.9,
+    "opposite_sign_bend_deg": 137.6,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.99,
     "hand_vs_marker_frame_deg": {
-     "before": 179.6,
+     "before": 55.33,
      "after": 2.99
     },
     "markers_on_wrist": [
@@ -445,12 +445,12 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -173.25,
+     "twist_moved_deg": 47.09,
      "wrist_twist_deg_after": {
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+      "median": -0.0,
       "iqr": [
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-       1.4
+       -3.2,
+       3.7
       ]
      },
      "wrist_total_deg_median_after": 36.8,
@@ -464,19 +464,19 @@
    },
    "right": {
     "status": "corrected",
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+    "Q_deg": 115.23,
     "Q_rotvec": [
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-     0.0,
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+     2.00604,
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+     0.03036
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 20.5,
-    "opposite_sign_bend_deg": 174.6,
+    "wrist_bend_deg_median": 101.4,
+    "opposite_sign_bend_deg": 89.0,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 4.66,
     "hand_vs_marker_frame_deg": {
-     "before": 4.66,
+     "before": 115.29,
      "after": 4.66
     },
     "markers_on_wrist": [
@@ -484,9 +484,9 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -0.0,
+     "twist_moved_deg": -99.45,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": 0.0,
       "iqr": [
        -3.2,
        4.3
@@ -503,14 +503,128 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-28T06:50:20.429556+00:00",
+   "generated_at_utc": "2026-10-29T04:33:20.235643+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 15.65,
+    "offset_rotvec": [
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+     0.2471,
+     -0.0988
+    ],
+    "dev_deg": {
+     "median": 11.13,
+     "p90": 24.01
+    },
+    "samples": 4114,
+    "accepted": 3870,
+    "wrist_pos_err_mm_median": 22.9,
+    "per_camera": {
+     "head": {
+      "samples": 4114,
+      "accepted": 3870,
+      "gate_deg": 30.0,
+      "offset_deg": 15.65,
+      "tier": "primary",
+      "dev_deg_median": 11.13,
+      "wrist_pos_err_mm_median": 22.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15534,
+     "interpolated": 656,
+     "mean_hand": 502,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9695,
+    "observed_fraction_of_valid": 0.9699,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 18.5,
+     "smplx": 1.6
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 12.2,
+      "p90": 13.8
+     },
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+  "primitive": "EC09",
+  "instruction": "Push the cart across the room and back. The operator will change how much is loaded on it between takes and will tell you each time."
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 }

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+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/environment_coupled_wholebody/EC09/session_012",
+  "family": "environment_coupled_wholebody",
+  "primitive": "EC09",
+  "source_session": "20261026/EC09/20261026_104313_session99"
+ },
+ "task": {
+  "primitive": "EC09",
+  "instruction": "Push the cart across the room and back. The operator will change how much is loaded on it between takes and will tell you each time."
+ },
+ "objects": [
+  {
+   "name": "BigBox1",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
+}

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+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/environment_coupled_wholebody/EC09/session_013",
+  "family": "environment_coupled_wholebody",
+  "primitive": "EC09",
+  "source_session": "20261026/EC09/20261026_104512_session100"
+ },
+ "task": {
+  "primitive": "EC09",
+  "instruction": "Push the cart across the room and back. The operator will change how much is loaded on it between takes and will tell you each time."
+ },
+ "objects": [
+  {
+   "name": "BigBox1",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
+}

actions/environment_coupled_wholebody/EC09/session_013/motions/head_rig.npz

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