Release update 2026-11-05: 5760 sessions, instructions, annotations (part 43)

actions/environment_coupled_wholebody/EC03/session_006/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": "EC03",
+ "instruction": "Stand still with your hands on the cart. When the operator says go, get it moving, push it a few metres, then bring it to a stop. Repeat until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 101.7333,
+   "video": "left_eye",
+   "video_t_start": 0.039788314987306325
+  }
+ ],
+ "episodes": [
+  {
+   "id": "675dea32-ed35-44d8-b1c4-27cd92d93adf",
+   "segment": "segment1",
+   "action": "EC03",
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+   "instruction": "Stand still with your hands on the cart. When the operator says go, get it moving, push it a few metres, then bring it to a stop. Repeat until the operator says stop."
+  }
+ ]
+}

actions/environment_coupled_wholebody/EC03/session_006/cameras/gsi_online_calibration.json

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+{
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+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
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+ "runtime": {
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+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
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actions/environment_coupled_wholebody/EC03/session_006/cameras/slam.npz

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actions/environment_coupled_wholebody/EC03/session_006/meta.json

@@ -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)",
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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": {
@@ -505,12 +505,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
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+  "cameras_used": [
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+  "generated_at_utc": "2026-11-03T20:57:09.580091+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/EC03/session_006",
   "family": "environment_coupled_wholebody",
   "primitive": "EC03",
   "source_session": "20261020/EC03/20261020_035714_session25"
  },
+ "task": {
+  "primitive": "EC03",
+  "instruction": "Stand still with your hands on the cart. When the operator says go, get it moving, push it a few metres, then bring it to a stop. Repeat until the operator says stop."
+ },
  "objects": [
   {
    "name": "BigBox",

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actions/environment_coupled_wholebody/EC03/session_007/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": "EC03",
+ "instruction": "Stand still with your hands on the cart. When the operator says go, get it moving, push it a few metres, then bring it to a stop. Repeat until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 103.733244,
+   "video": "left_eye",
+   "video_t_start": 0.04043329214780789
+  }
+ ],
+ "episodes": [
+  {
+   "id": "81e5b762-5ab6-43f4-8c60-fdcab9e08bcb",
+   "segment": "segment1",
+   "action": "EC03",
+   "quality": "valid",
+   "start_s": 2.055,
+   "end_s": 97.213,
+   "t_start": 2.0954,
+   "t_end": 97.2534,
+   "instruction": "Stand still with your hands on the cart. When the operator says go, get it moving, push it a few metres, then bring it to a stop. Repeat until the operator says stop."
+  }
+ ]
+}

actions/environment_coupled_wholebody/EC03/session_007/cameras/gsi_online_calibration.json

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     "left": {
@@ -493,12 +493,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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   "family": "environment_coupled_wholebody",
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+ },
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   {
    "name": "BigBox",

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+}

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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": {
-   "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": {
@@ -409,7 +409,7 @@
   "valid_fraction": 0.9995,
   "qc": {
    "lowest_vertex_mm": {
-    "median": 9.9,
+    "median": 9.8,
     "p5": 6.7
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    "frames_checked": 528,
@@ -425,19 +425,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 180.0,
+    "Q_deg": 53.28,
     "Q_rotvec": [
-     -2.98662,
-     0.4392,
-     0.86995
+     0.88538,
+     -0.28456,
+     -0.00499
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     "in_out_sign": 1,
-    "wrist_bend_deg_median": 171.5,
-    "opposite_sign_bend_deg": 27.8,
+    "wrist_bend_deg_median": 67.2,
+    "opposite_sign_bend_deg": 131.8,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 3.45,
     "hand_vs_marker_frame_deg": {
-     "before": 179.48,
+     "before": 53.5,
      "after": 3.45
     },
     "markers_on_wrist": [
@@ -445,15 +445,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -165.94,
+     "twist_moved_deg": 56.66,
      "wrist_twist_deg_after": {
-      "median": -7.4,
+      "median": -0.0,
       "iqr": [
-       -14.5,
-       -0.5
+       -7.1,
+       6.9
       ]
      },
-     "wrist_total_deg_median_after": 34.8,
+     "wrist_total_deg_median_after": 33.8,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -464,19 +464,19 @@
    },
    "right": {
     "status": "corrected",
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+    "Q_deg": 111.9,
     "Q_rotvec": [
-     0.0,
-     0.0,
-     -0.0
+     1.94043,
+     0.22058,
+     0.01365
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     "in_out_sign": 1,
-    "wrist_bend_deg_median": 23.6,
-    "opposite_sign_bend_deg": 174.1,
+    "wrist_bend_deg_median": 99.7,
+    "opposite_sign_bend_deg": 91.7,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 4.81,
     "hand_vs_marker_frame_deg": {
-     "before": 4.81,
+     "before": 112.02,
      "after": 4.81
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     "markers_on_wrist": [
@@ -484,9 +484,9 @@
      "RHandOut"
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+     "twist_moved_deg": -96.71,
      "wrist_twist_deg_after": {
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+      "median": 0.0,
       "iqr": [
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        9.6
@@ -503,14 +503,128 @@
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+   "generated_at_utc": "2026-10-29T04:17:07.487590+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
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+  "cameras": {},
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+    "samples": 3683,
+    "accepted": 2943,
+    "wrist_pos_err_mm_median": 23.9,
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+      "accepted": 2943,
+      "gate_deg": 30.0,
+      "offset_deg": 13.71,
+      "tier": "primary",
+      "dev_deg_median": 15.84,
+      "wrist_pos_err_mm_median": 23.9
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+     "no_body_fit": 8
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+    "observed_fraction_of_valid": 0.8757,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 1.5
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+      "tier": "primary",
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+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:33:38.916254+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/EC03/session_008",
   "family": "environment_coupled_wholebody",
   "primitive": "EC03",
   "source_session": "20261026/EC03/20261026_025645_session30"
+ },
+ "task": {
+  "primitive": "EC03",
+  "instruction": "Stand still with your hands on the cart. When the operator says go, get it moving, push it a few metres, then bring it to a stop. Repeat until the operator says stop."
  }
 }

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actions/environment_coupled_wholebody/EC03/session_009/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": "EC03",
+ "instruction": "Stand still with your hands on the cart. When the operator says go, get it moving, push it a few metres, then bring it to a stop. Repeat until the operator says stop.",
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+   "instruction": "Stand still with your hands on the cart. When the operator says go, get it moving, push it a few metres, then bring it to a stop. Repeat until the operator says stop."
+  }
+ ]
+}

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+  "generated_at_utc": "2026-10-29T04:17:55.116713+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": {
@@ -409,7 +409,7 @@
   "valid_fraction": 0.9996,
   "qc": {
    "lowest_vertex_mm": {
-    "median": 7.8,
+    "median": 7.7,
     "p5": 1.7
    },
    "frames_checked": 637,
@@ -425,19 +425,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 180.0,
+    "Q_deg": 45.09,
     "Q_rotvec": [
-     -2.98662,
-     0.4392,
-     0.86995
+     0.72703,
+     -0.27484,
+     0.12288
     ],
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-    "wrist_bend_deg_median": 172.8,
-    "opposite_sign_bend_deg": 28.0,
+    "wrist_bend_deg_median": 61.6,
+    "opposite_sign_bend_deg": 136.0,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 3.75,
     "hand_vs_marker_frame_deg": {
-     "before": 179.43,
+     "before": 45.47,
      "after": 3.75
     },
     "markers_on_wrist": [
@@ -445,15 +445,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -164.91,
+     "twist_moved_deg": 50.62,
      "wrist_twist_deg_after": {
-      "median": -9.44,
+      "median": -0.0,
       "iqr": [
-       -17.9,
-       -1.9
+       -8.4,
+       7.6
       ]
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-     "wrist_total_deg_median_after": 30.7,
+     "wrist_total_deg_median_after": 30.3,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -464,19 +464,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 0.0,
+    "Q_deg": 103.43,
     "Q_rotvec": [
-     0.0,
-     0.0,
-     -0.0
+     1.78162,
+     0.28784,
+     0.04018
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-    "wrist_bend_deg_median": 25.5,
-    "opposite_sign_bend_deg": 174.5,
+    "wrist_bend_deg_median": 101.3,
+    "opposite_sign_bend_deg": 89.3,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 5.25,
     "hand_vs_marker_frame_deg": {
-     "before": 5.25,
+     "before": 104.02,
      "after": 5.25
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     "markers_on_wrist": [
@@ -484,7 +484,7 @@
      "RHandOut"
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+     "twist_moved_deg": -98.68,
      "wrist_twist_deg_after": {
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       "iqr": [
@@ -503,14 +503,128 @@
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+   "generated_at_utc": "2026-10-29T04:17:58.188917+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
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+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
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+     "p90": 45.13
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+    "samples": 4352,
+    "accepted": 3379,
+    "wrist_pos_err_mm_median": 25.7,
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+      "accepted": 3379,
+      "gate_deg": 30.0,
+      "offset_deg": 11.99,
+      "tier": "primary",
+      "dev_deg_median": 17.49,
+      "wrist_pos_err_mm_median": 25.7
+     }
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+     "interpolated": 2736,
+     "mean_hand": 2722,
+     "no_body_fit": 8
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+    "observed_fraction_of_valid": 0.8575,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 19.63,
+     "smplx": 1.95
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+    "hand_marker_to_mesh_mm": {
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+     0.1196
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+      "tier": "primary",
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+     "smplx": 5.1
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:33:41.256997+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/EC03/session_009",
   "family": "environment_coupled_wholebody",
   "primitive": "EC03",
   "source_session": "20261026/EC03/20261026_025922_session31"
+ },
+ "task": {
+  "primitive": "EC03",
+  "instruction": "Stand still with your hands on the cart. When the operator says go, get it moving, push it a few metres, then bring it to a stop. Repeat until the operator says stop."
  }
 }

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@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
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+ "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": "EC03",
+ "instruction": "Stand still with your hands on the cart. When the operator says go, get it moving, push it a few metres, then bring it to a stop. Repeat until the operator says stop.",
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+   "instruction": "Stand still with your hands on the cart. When the operator says go, get it moving, push it a few metres, then bring it to a stop. Repeat until the operator says stop."
+  }
+ ]
+}

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+   "tilt_from_z_deg": 0.414,
    "tilt_from_z_deg_before_levelling": 0.963,
    "magnitude_m_s2": 9.7063
   },
@@ -356,7 +356,7 @@
   ]
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-  "generated_at_utc": "2026-10-27T07:26:30.594077+00:00",
+  "generated_at_utc": "2026-10-29T04:17:57.986552+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": {
@@ -409,8 +409,8 @@
   "valid_fraction": 0.9999,
   "qc": {
    "lowest_vertex_mm": {
-    "median": 5.1,
-    "p5": -1.2
+    "median": 5.3,
+    "p5": -1.3
    },
    "frames_checked": 525,
    "stature_mm": 1614.2
@@ -425,19 +425,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 180.0,
+    "Q_deg": 37.88,
     "Q_rotvec": [
-     -2.98662,
-     0.4392,
-     0.86995
+     0.60876,
+     -0.25303,
+     0.05072
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 172.6,
-    "opposite_sign_bend_deg": 26.4,
+    "wrist_bend_deg_median": 60.5,
+    "opposite_sign_bend_deg": 141.7,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 4.13,
     "hand_vs_marker_frame_deg": {
-     "before": 179.46,
+     "before": 38.31,
      "after": 4.13
     },
     "markers_on_wrist": [
@@ -445,15 +445,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -163.55,
+     "twist_moved_deg": 45.48,
      "wrist_twist_deg_after": {
-      "median": -10.34,
+      "median": 0.0,
       "iqr": [
-       -18.0,
-       -2.5
+       -7.6,
+       7.8
       ]
      },
-     "wrist_total_deg_median_after": 40.9,
+     "wrist_total_deg_median_after": 39.3,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -464,19 +464,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 0.0,
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-     0.0,
-     -0.0
+     1.55038,
+     0.23485,
+     0.06464
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-    "opposite_sign_bend_deg": 174.5,
+    "wrist_bend_deg_median": 95.8,
+    "opposite_sign_bend_deg": 96.0,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
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     "hand_vs_marker_frame_deg": {
-     "before": 5.67,
+     "before": 90.91,
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@@ -484,7 +484,7 @@
      "RHandOut"
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+     "twist_moved_deg": -92.15,
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@@ -502,14 +502,128 @@
     },
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+   "generated_at_utc": "2026-10-29T04:18:00.883441+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
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+      "tier": "primary",
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+     "smplx": 5.65
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+    "hand_marker_to_mesh_mm": {
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:33:39.709344+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/EC03/session_010",
   "family": "environment_coupled_wholebody",
   "primitive": "EC03",
   "source_session": "20261026/EC03/20261026_030228_session32"
+ },
+ "task": {
+  "primitive": "EC03",
+  "instruction": "Stand still with your hands on the cart. When the operator says go, get it moving, push it a few metres, then bring it to a stop. Repeat until the operator says stop."
  }
 }

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