Release update 2026-11-05: 5760 sessions, instructions, annotations (part 33)

actions/environment_coupled_wholebody/EC01/session_011/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": "EC01",
+ "instruction": "Push the loaded cart from one corner of the room to the other, turn it round, and push it back. Keep going until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 131.849978,
+   "video": "left_eye",
+   "video_t_start": 0.03985233685041628
+  }
+ ],
+ "episodes": [
+  {
+   "id": "a8dbf202-f56c-4b80-b630-1bb44b5ededb",
+   "segment": "segment1",
+   "action": "EC01",
+   "quality": "valid",
+   "start_s": 2.15,
+   "end_s": 128.773,
+   "t_start": 2.1899,
+   "t_end": 128.8129,
+   "instruction": "Push the loaded cart from one corner of the room to the other, turn it round, and push it back. Keep going until the operator says stop."
+  }
+ ]
+}

actions/environment_coupled_wholebody/EC01/session_011/cameras/gsi_online_calibration.json

@@ -0,0 +1,255 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.385
+ },
+ "cameras": {
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+    "right_front",
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+    "right_eye"
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+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
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+  },
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+ "kind": "online_calibration",
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+  "opencv": "5.0.0",
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actions/environment_coupled_wholebody/EC01/session_011/cameras/slam.npz

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actions/environment_coupled_wholebody/EC01/session_011/meta.json

@@ -275,44 +275,44 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
  "canonical": {
-  "generated_at_utc": "2026-10-27T06:42:54.514394+00:00",
+  "generated_at_utc": "2026-10-28T23:21:42.063009+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)",
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@@ -324,20 +324,20 @@
   ],
   "block": "20261026-morning",
   "block_assignment": "trc",
-  "tilt_removed_deg": 0.6736075582400546,
+  "tilt_removed_deg": 0.6697930607742368,
   "plane_status": "ok",
   "floor": {
-   "sole_marker_p1_mm": 28.0,
-   "headtop_p95_mm": 1652.5
+   "sole_marker_p1_mm": 27.7,
+   "headtop_p95_mm": 1652.8
   },
   "gravity_check": {
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    "g_world_mean_m_s2": [
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+    0.0216,
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+   "tilt_from_z_deg": 0.131,
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    "magnitude_m_s2": 9.7902
   },
@@ -356,7 +356,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-27T07:21:33.205668+00:00",
+  "generated_at_utc": "2026-10-29T04:12:08.417765+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": {
@@ -410,7 +410,7 @@
   "qc": {
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     "median": 3.9,
-    "p5": -1.7
+    "p5": -1.3
    },
    "frames_checked": 528,
    "stature_mm": 1614.2
@@ -425,19 +425,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
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+    "Q_deg": 57.66,
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+     0.94243,
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+     -0.06132
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     "in_out_sign": 1,
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-    "opposite_sign_bend_deg": 27.3,
+    "wrist_bend_deg_median": 72.2,
+    "opposite_sign_bend_deg": 123.8,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 3.61,
     "hand_vs_marker_frame_deg": {
-     "before": 179.47,
+     "before": 57.9,
      "after": 3.61
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     "markers_on_wrist": [
@@ -445,15 +445,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
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+     "twist_moved_deg": 63.49,
      "wrist_twist_deg_after": {
-      "median": -4.12,
+      "median": -0.0,
       "iqr": [
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-       2.1
+       -5.1,
+       6.2
       ]
      },
-     "wrist_total_deg_median_after": 30.6,
+     "wrist_total_deg_median_after": 30.5,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -464,19 +464,19 @@
    },
    "right": {
     "status": "corrected",
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+     0.06671
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-    "opposite_sign_bend_deg": 176.0,
+    "wrist_bend_deg_median": 97.4,
+    "opposite_sign_bend_deg": 88.3,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 4.55,
     "hand_vs_marker_frame_deg": {
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+     "before": 105.43,
      "after": 4.55
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     "markers_on_wrist": [
@@ -484,7 +484,7 @@
      "RHandOut"
     ],
     "forearm_twist": {
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+     "twist_moved_deg": -95.48,
      "wrist_twist_deg_after": {
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       "iqr": [
@@ -502,22 +502,128 @@
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     "frames_used": 1499
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+   "generated_at_utc": "2026-10-29T04:12:11.375880+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
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+     "p90": 42.5
+    },
+    "samples": 3665,
+    "accepted": 2791,
+    "wrist_pos_err_mm_median": 26.5,
+    "per_camera": {
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+      "accepted": 2791,
+      "gate_deg": 30.0,
+      "offset_deg": 16.78,
+      "tier": "primary",
+      "dev_deg_median": 15.92,
+      "wrist_pos_err_mm_median": 26.5
+     }
+    },
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+     "interpolated": 1306,
+     "mean_hand": 3277,
+     "no_body_fit": 9
+    },
+    "observed_fraction": 0.7925,
+    "observed_fraction_of_valid": 0.7929,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 20.1,
+     "smplx": 1.91
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.5,
+      "p90": 12.9
+     },
+     "registered": {
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+      "p90": 10.7
+     }
+    }
+   },
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+    "dev_deg": {
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+      "tier": "primary",
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+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:33:45.493551+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/EC01/session_011",
   "family": "environment_coupled_wholebody",
   "primitive": "EC01",
   "source_session": "20261026/EC01/20261026_022945_session24"
  },
- "objects": [
-  {
-   "name": "Ramp",
-   "object_type": "Ramp",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
-  }
- ]
+ "task": {
+  "primitive": "EC01",
+  "instruction": "Push the loaded cart from one corner of the room to the other, turn it round, and push it back. Keep going until the operator says stop."
+ }
 }

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actions/environment_coupled_wholebody/EC01/session_011/motions/smplx.npz

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actions/environment_coupled_wholebody/EC01/session_012/annotations.json

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+{
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+ "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": "EC01",
+ "instruction": "Push the loaded cart from one corner of the room to the other, turn it round, and push it back. Keep going until the operator says stop.",
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+  }
+ ]
+}

actions/environment_coupled_wholebody/EC01/session_012/cameras/gsi_online_calibration.json

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actions/environment_coupled_wholebody/EC01/session_012/cameras/slam.npz

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actions/environment_coupled_wholebody/EC01/session_012/meta.json

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   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
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+  "generated_at_utc": "2026-10-28T23:21:44.962326+00:00",
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   ],
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   ]
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   "hands": {
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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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@@ -445,15 +445,15 @@
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@@ -484,7 +484,7 @@
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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/EC01/session_012",
   "family": "environment_coupled_wholebody",
   "primitive": "EC01",
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-   "object_type": "Ramp",
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-  }
- ]
+ "task": {
+  "primitive": "EC01",
+  "instruction": "Push the loaded cart from one corner of the room to the other, turn it round, and push it back. Keep going until the operator says stop."
+ }
 }

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