Release update 2026-11-05: 5760 sessions, instructions, annotations (part 59)

actions/environment_coupled_wholebody/EC06/session_009/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": "EC06",
+ "instruction": "Push the cart in and out of the line of poles without touching any of them. Keep going until the operator says stop.",
+ "segments": [
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+   "instruction": "Push the cart in and out of the line of poles without touching any of them. Keep going until the operator says stop."
+  }
+ ]
+}

actions/environment_coupled_wholebody/EC06/session_009/cameras/gsi_online_calibration.json

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actions/environment_coupled_wholebody/EC06/session_009/cameras/slam.npz

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actions/environment_coupled_wholebody/EC06/session_009/meta.json

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    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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     "left": {
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    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
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+  "generated_at_utc": "2026-11-03T21:45:01.677517+00:00",
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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",
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  "release": {
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   "family": "environment_coupled_wholebody",
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+  "instruction": "Push the cart in and out of the line of poles without touching any of them. Keep going until the operator says stop."
+ },
  "objects": [
   {
    "name": "CcBlue",

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actions/environment_coupled_wholebody/EC06/session_010/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": "EC06",
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+ "segments": [
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+   "video": "left_eye",
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+ "episodes": [
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+   "segment": "segment1",
+   "action": "EC06",
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+   "instruction": "Push the cart in and out of the line of poles without touching any of them. Keep going until the operator says stop."
+  }
+ ]
+}

actions/environment_coupled_wholebody/EC06/session_010/cameras/gsi_online_calibration.json

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actions/environment_coupled_wholebody/EC06/session_010/meta.json

@@ -378,8 +378,8 @@
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   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
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-   "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",
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     "left": {
@@ -448,20 +448,31 @@
   "wrist_correction": {
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+    "opposite_sign_bend_deg": 156.7,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
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-     "after": 9.67
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@@ -469,15 +480,15 @@
      "LHandOut"
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+     "wrist_total_deg_median_after": 40.7,
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-     0.0,
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      "RHandOut"
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    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
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+  "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/EC06/session_010",
   "family": "environment_coupled_wholebody",
   "primitive": "EC06",
   "source_session": "20261017/EC06/20261017_093338_session128"
  },
+ "task": {
+  "primitive": "EC06",
+  "instruction": "Push the cart in and out of the line of poles without touching any of them. Keep going until the operator says stop."
+ },
  "objects": [
   {
    "name": "BigBox",

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