Release update 2026-11-05: 5760 sessions, instructions, annotations (part 113)

actions/human_human_locomanipulation/HH02/session_005/annotations.json

@@ -0,0 +1,83 @@
+{
+ "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": "HH02",
+ "instruction": "Pick the object up from the shelf, walk over to your partner, hand it to them, and walk back. Then do it again with the next object. 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": 135.899967,
+   "video": "left_eye",
+   "video_t_start": 0.03929633339105687
+  }
+ ],
+ "episodes": [
+  {
+   "id": "55b52b39-48f9-4b28-a088-c8673eeb019f",
+   "segment": "segment1",
+   "action": "HH02",
+   "quality": "valid",
+   "start_s": 2.048,
+   "end_s": 19.766,
+   "t_start": 2.0873,
+   "t_end": 19.8053,
+   "instruction": "Pick the object up from the shelf, walk over to your partner, hand it to them, and walk back. Then do it again with the next object. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "78137aaa-2099-46cc-9d78-c5b8f5ca7863",
+   "segment": "segment1",
+   "action": "HH02",
+   "quality": "valid",
+   "start_s": 22.837,
+   "end_s": 40.772,
+   "t_start": 22.8763,
+   "t_end": 40.8113,
+   "instruction": "Pick the object up from the shelf, walk over to your partner, hand it to them, and walk back. Then do it again with the next object. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "dbcb0a29-ff7e-4b7a-a957-ff0b4d5d136a",
+   "segment": "segment1",
+   "action": "HH02",
+   "quality": "valid",
+   "start_s": 43.585,
+   "end_s": 62.077,
+   "t_start": 43.6243,
+   "t_end": 62.1163,
+   "instruction": "Pick the object up from the shelf, walk over to your partner, hand it to them, and walk back. Then do it again with the next object. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "3f47130b-96bb-4719-8269-30a72259eee9",
+   "segment": "segment1",
+   "action": "HH02",
+   "quality": "valid",
+   "start_s": 64.733,
+   "end_s": 84.718,
+   "t_start": 64.7723,
+   "t_end": 84.7573,
+   "instruction": "Pick the object up from the shelf, walk over to your partner, hand it to them, and walk back. Then do it again with the next object. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "0c7698d3-9934-46ce-beae-566ca14e6c96",
+   "segment": "segment1",
+   "action": "HH02",
+   "quality": "valid",
+   "start_s": 86.961,
+   "end_s": 106.866,
+   "t_start": 87.0003,
+   "t_end": 106.9053,
+   "instruction": "Pick the object up from the shelf, walk over to your partner, hand it to them, and walk back. Then do it again with the next object. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "6bdd7d35-6bf0-4145-ba62-8ca47902d8c0",
+   "segment": "segment1",
+   "action": "HH02",
+   "quality": "valid",
+   "start_s": 109.85,
+   "end_s": 129.027,
+   "t_start": 109.8893,
+   "t_end": 129.0663,
+   "instruction": "Pick the object up from the shelf, walk over to your partner, hand it to them, and walk back. Then do it again with the next object. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  }
+ ]
+}

actions/human_human_locomanipulation/HH02/session_005/cameras/gsi_online_calibration.json

@@ -0,0 +1,248 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.4
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.7298,
+   "gate_fail": [],
+   "held_out_px_after": 0.468,
+   "held_out_px_before": 21.572,
+   "inliers": 2056,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.1562,
+    -0.1954,
+    -1.2717
+   ],
+   "split_deg": 0.0247,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.192,
+   "gate_fail": [],
+   "held_out_px_after": 0.419,
+   "held_out_px_before": 8.611,
+   "inliers": 3485,
+   "position_fitted": true,
+   "position_mm": [
+    1.19,
+    -26.78,
+    -0.83
+   ],
+   "position_sigma_mm": 0.14,
+   "position_split_mm": 0.711,
+   "rotvec_deg": [
+    1.5205,
+    -0.7807,
+    1.3724
+   ],
+   "split_deg": 0.0337,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.8476,
+   "gate_fail": [],
+   "held_out_px_after": 0.761,
+   "held_out_px_before": 13.86,
+   "inliers": 1042,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.6962,
+    -1.168,
+    3.25
+   ],
+   "split_deg": 0.1386,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.7859,
+   "gate_fail": [],
+   "held_out_px_after": 0.403,
+   "held_out_px_before": 4.575,
+   "inliers": 3740,
+   "position_fitted": true,
+   "position_mm": [
+    0.16,
+    -24.25,
+    0.43
+   ],
+   "position_sigma_mm": 0.114,
+   "position_split_mm": 0.728,
+   "rotvec_deg": [
+    1.5596,
+    -1.3118,
+    1.8995
+   ],
+   "split_deg": 0.0252,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.5628,
+   "gate_fail": [],
+   "held_out_px_after": 0.381,
+   "held_out_px_before": 4.347,
+   "inliers": 3479,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2196,
+    -0.4332,
+    -0.2842
+   ],
+   "split_deg": 0.0092,
+   "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": "cb6c043764eb8b71c3d74ac93f9152c0b7cdb7221ac731a314140f746fc48c4d",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "f22b139792454df7e3fc17016489b2b0a9303d1b05886617f84e0d7a6c77835e",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "6022ba1c189eb803abd1f1be7d1426339d76d68c287754ee06494632fd40dba4",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "33467892b613fcedeac4bffb8c862174d762f8f8d3c9311a1a28ecb3ed21e1e6",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "d49938fe8427d8f3",
+ "kind": "online_calibration",
+ "output_sha256": "64b7a6648f6493e45ebf2dbf5e0f4146a10b4796f159447a480fcad19d95f726",
+ "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": 39.068,
+  "left_eye": 37.283,
+  "left_front": 41.99,
+  "right": 38.987,
+  "right_eye": 38.044,
+  "right_front": 40.012
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
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+  ]
+ },
+ "version": 1
+}

actions/human_human_locomanipulation/HH02/session_005/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd98cd0219696c05ed435745c13f74d331dd1310316e7f0ee6cfabfbc0756204
+size 781434

actions/human_human_locomanipulation/HH02/session_005/meta.json

@@ -288,44 +288,44 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
  "canonical": {
-  "generated_at_utc": "2026-10-27T06:43:02.201632+00:00",
+  "generated_at_utc": "2026-10-28T23:22:03.258404+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
    ],
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-    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": 35.8,
-   "headtop_p95_mm": 1565.6
+   "sole_marker_p1_mm": 38.6,
+   "headtop_p95_mm": 1569.6
   },
   "gravity_check": {
    "static_samples": 4304,
    "g_world_mean_m_s2": [
-    0.1802,
-    0.1057,
-    9.7789
+    0.1343,
+    0.1591,
+    9.779
    ],
-   "tilt_from_z_deg": 1.224,
+   "tilt_from_z_deg": 1.219,
    "tilt_from_z_deg_before_levelling": 0.783,
    "magnitude_m_s2": 9.7812
   },
@@ -370,7 +370,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-27T07:41:36.753092+00:00",
+  "generated_at_utc": "2026-10-29T04:43:37.748045+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": {
@@ -428,8 +428,8 @@
   "valid_fraction": 1.0,
   "qc": {
    "lowest_vertex_mm": {
-    "median": -9.3,
-    "p5": -15.8
+    "median": -1.1,
+    "p5": -14.0
    },
    "frames_checked": 544,
    "stature_mm": 1582.0
@@ -444,19 +444,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 180.0,
+    "Q_deg": 50.13,
     "Q_rotvec": [
-     2.98447,
-     -0.44488,
-     -0.87443
+     0.68422,
+     -0.52619,
+     0.14334
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 173.1,
-    "opposite_sign_bend_deg": 38.6,
+    "wrist_bend_deg_median": 75.3,
+    "opposite_sign_bend_deg": 119.1,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.75,
     "hand_vs_marker_frame_deg": {
-     "before": 178.39,
+     "before": 50.25,
      "after": 2.75
     },
     "markers_on_wrist": [
@@ -465,12 +465,12 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -172.66,
+     "twist_moved_deg": 72.67,
      "wrist_twist_deg_after": {
-      "median": -0.04,
+      "median": -0.0,
       "iqr": [
        -1.4,
-       1.8
+       1.9
       ]
      },
      "wrist_total_deg_median_after": 21.4,
@@ -483,19 +483,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 0.0,
+    "Q_deg": 140.77,
     "Q_rotvec": [
-     -0.0,
-     0.0,
-     -0.0
+     2.38274,
+     0.35028,
+     0.48571
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 23.9,
-    "opposite_sign_bend_deg": 175.9,
+    "wrist_bend_deg_median": 136.7,
+    "opposite_sign_bend_deg": 52.3,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.67,
     "hand_vs_marker_frame_deg": {
-     "before": 2.67,
+     "before": 140.78,
      "after": 2.67
     },
     "markers_on_wrist": [
@@ -503,9 +503,9 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -0.0,
+     "twist_moved_deg": -135.83,
      "wrist_twist_deg_after": {
-      "median": 0.0,
+      "median": -0.0,
       "iqr": [
        -2.4,
        1.6
@@ -522,16 +522,130 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-28T06:50:22.069063+00:00",
+   "generated_at_utc": "2026-10-29T04:43:40.768351+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 7.77,
+    "offset_rotvec": [
+     0.13,
+     -0.0127,
+     -0.0363
+    ],
+    "dev_deg": {
+     "median": 20.85,
+     "p90": 34.84
+    },
+    "samples": 3435,
+    "accepted": 2860,
+    "wrist_pos_err_mm_median": 300.7,
+    "per_camera": {
+     "head": {
+      "samples": 3435,
+      "accepted": 2860,
+      "gate_deg": 30.0,
+      "offset_deg": 7.77,
+      "tier": "primary",
+      "dev_deg_median": 20.85,
+      "wrist_pos_err_mm_median": 300.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11704,
+     "interpolated": 3804,
+     "mean_hand": 808,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9505,
+    "observed_fraction_of_valid": 0.9505,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 16.19,
+     "smplx": 2.01
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 15.0,
+      "p90": 24.4
+     },
+     "registered": {
+      "median": 14.1,
+      "p90": 23.1
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 14.75,
+    "offset_rotvec": [
+     -0.1344,
+     -0.2128,
+     0.0541
+    ],
+    "dev_deg": {
+     "median": 16.91,
+     "p90": 29.61
+    },
+    "samples": 3491,
+    "accepted": 3164,
+    "wrist_pos_err_mm_median": 275.9,
+    "per_camera": {
+     "head": {
+      "samples": 3491,
+      "accepted": 3164,
+      "gate_deg": 30.0,
+      "offset_deg": 14.75,
+      "tier": "primary",
+      "dev_deg_median": 16.91,
+      "wrist_pos_err_mm_median": 275.9
+     }
+    },
+    "frames_by_state": {
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