Release update 2026-11-05: 5760 sessions, instructions, annotations (part 72)

actions/environment_coupled_wholebody/EC07/session_009/annotations.json

@@ -0,0 +1,39 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 2)",
+ "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": "EC07",
+ "instruction": "Push the cart across the room using only the hand the operator calls. Keep your other arm at your side.",
+ "segments": [
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+   "video": "left_eye",
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+ ],
+ "episodes": [
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+   "action": "EC07",
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+  },
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+   "instruction": "Push the cart across the room using only the hand the operator calls. Keep your other arm at your side."
+  }
+ ]
+}

actions/environment_coupled_wholebody/EC07/session_009/cameras/gsi_online_calibration.json

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actions/environment_coupled_wholebody/EC07/session_009/cameras/slam.npz

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actions/environment_coupled_wholebody/EC07/session_009/meta.json

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   "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": {
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-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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+   "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",
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     "left": {
@@ -499,48 +499,132 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
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+  "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/EC07/session_009",
   "family": "environment_coupled_wholebody",
   "primitive": "EC07",
   "source_session": "20261020/EC07/20261020_030600_session10"
  },
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+  "primitive": "EC07",
+  "instruction": "Push the cart across the room using only the hand the operator calls. Keep your other arm at your side."
+ },
  "objects": [
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    "name": "LittleBox1",
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    "source": "mocap",
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-   "source": "mocap",
-   "pose_frame": "rigid_body"
   }
  ]
 }

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actions/environment_coupled_wholebody/EC07/session_010/cameras/gsi_online_calibration.json

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actions/environment_coupled_wholebody/EC07/session_010/cameras/slam.npz

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actions/environment_coupled_wholebody/EC07/session_010/meta.json

@@ -353,8 +353,8 @@
   "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": {
@@ -498,66 +498,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
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+  "generated_at_utc": "2026-11-03T17:40:11.323178+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/EC07/session_010",
   "family": "environment_coupled_wholebody",
   "primitive": "EC07",
   "source_session": "20261024/EC07/20261024_055620_session55"
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-   "object_type": "CcBlue",
-   "source": "mocap",
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-  },
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-   "object_type": "CcGreen",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
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-   "name": "CcOrange",
-   "object_type": "CcOrange",
-   "source": "mocap",
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-   "source": "mocap",
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-   "object_type": "LittleBox",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
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-   "object_type": "LittleBox",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
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-   "object_type": "LittleBox",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
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-   "name": "LittleBox4",
-   "object_type": "LittleBox",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
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-  {
-   "name": "Table",
-   "object_type": "Table",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
-  }
- ]
+ "task": {
+  "primitive": "EC07",
+  "instruction": "Push the cart across the room using only the hand the operator calls. Keep your other arm at your side."
+ }
 }

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