Release update 2026-11-05: 5760 sessions, instructions, annotations (part 50)

actions/environment_coupled_wholebody/EC05/session_012/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": "EC05",
+ "instruction": "Push the cart through the gap between the poles without touching them, then bring it back through.",
+ "segments": [
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+   "duration_s": 125.966511,
+   "video": "left_eye",
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+ ],
+ "episodes": [
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+   "action": "EC05",
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+   "t_end": 124.2145,
+   "instruction": "Push the cart through the gap between the poles without touching them, then bring it back through."
+  }
+ ]
+}

actions/environment_coupled_wholebody/EC05/session_012/cameras/gsi_online_calibration.json

@@ -0,0 +1,210 @@
+{
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+ "kind": "online_calibration",
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actions/environment_coupled_wholebody/EC05/session_012/cameras/slam.npz

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actions/environment_coupled_wholebody/EC05/session_012/meta.json

@@ -331,8 +331,8 @@
   "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": {
@@ -477,10 +477,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
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+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/environment_coupled_wholebody/EC05/session_012",
   "family": "environment_coupled_wholebody",
   "primitive": "EC05",
   "source_session": "20261017/EC05/20261017_091858_session124"
+ },
+ "task": {
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+  "instruction": "Push the cart through the gap between the poles without touching them, then bring it back through."
  }
 }

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actions/environment_coupled_wholebody/EC05/session_013/annotations.json

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+ "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": "EC05",
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+   "action": "EC05",
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+   "instruction": "Push the cart through the gap between the poles without touching them, then bring it back through."
+  }
+ ]
+}

actions/environment_coupled_wholebody/EC05/session_013/cameras/gsi_online_calibration.json

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+ "version": 1
+}

actions/environment_coupled_wholebody/EC05/session_013/cameras/slam.npz

@@ -0,0 +1,3 @@
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actions/environment_coupled_wholebody/EC05/session_013/meta.json

@@ -332,8 +332,8 @@
   "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": {
@@ -483,12 +483,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 7.79,
+    "offset_rotvec": [
+     0.0034,
+     0.1173,
+     0.0687
+    ],
+    "dev_deg": {
+     "median": 5.81,
+     "p90": 11.84
+    },
+    "samples": 3982,
+    "accepted": 3982,
+    "wrist_pos_err_mm_median": 19.2,
+    "per_camera": {
+     "head": {
+      "samples": 3982,
+      "accepted": 3982,
+      "gate_deg": 30.0,
+      "offset_deg": 7.79,
+      "tier": "primary",
+      "dev_deg_median": 5.81,
+      "wrist_pos_err_mm_median": 19.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15930,
+     "interpolated": 2,
+     "mean_hand": 7,
+     "no_body_fit": 169
+    },
+    "observed_fraction": 0.9891,
+    "observed_fraction_of_valid": 0.9996,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 6.82,
+     "smplx": 0.9
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 13.6,
+      "p90": 15.9
+     },
+     "registered": {
+      "median": 14.4,
+      "p90": 15.4
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 27.68,
+    "offset_rotvec": [
+     0.029,
+     -0.3147,
+     0.3653
+    ],
+    "dev_deg": {
+     "median": 4.97,
+     "p90": 9.23
+    },
+    "samples": 3969,
+    "accepted": 3965,
+    "wrist_pos_err_mm_median": 44.9,
+    "per_camera": {
+     "head": {
+      "samples": 3969,
+      "accepted": 3965,
+      "gate_deg": 30.0,
+      "offset_deg": 27.68,
+      "tier": "primary",
+      "dev_deg_median": 4.97,
+      "wrist_pos_err_mm_median": 44.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15870,
+     "interpolated": 62,
+     "mean_hand": 7,
+     "no_body_fit": 169
+    },
+    "observed_fraction": 0.9891,
+    "observed_fraction_of_valid": 0.9996,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 20.77,
+     "smplx": 3.07
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.6,
+      "p90": 13.5
+     },
+     "registered": {
+      "median": 9.4,
+      "p90": 11.5
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:45:03.185382+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/environment_coupled_wholebody/EC05/session_013",
   "family": "environment_coupled_wholebody",
   "primitive": "EC05",
   "source_session": "20261017/EC05/20261017_092117_session125"
  },
+ "task": {
+  "primitive": "EC05",
+  "instruction": "Push the cart through the gap between the poles without touching them, then bring it back through."
+ },
  "objects": [
   {
    "name": "BigBox",

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