Release update 2026-11-05: 5760 sessions, instructions, annotations (part 64)

.gitattributes

@@ -41671,3 +41671,5 @@ actions/environment_coupled_wholebody/EC05/session_031/raw/sensors/robowrist_imu
 actions/environment_coupled_wholebody/EC05/session_031/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/environment_coupled_wholebody/EC05/session_031/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/environment_coupled_wholebody/EC05/session_031/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC06/session_022/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC06/session_022/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text

actions/environment_coupled_wholebody/EC06/session_021/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": "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": [
+  {
+   "id": "segment1",
+   "duration_s": 149.100022,
+   "video": "left_eye",
+   "video_t_start": 0.03990832603462588
+  }
+ ],
+ "episodes": [
+  {
+   "id": "a65e437a-817e-49c9-83cb-28182c0e2ce9",
+   "segment": "segment1",
+   "action": "EC06",
+   "quality": "valid",
+   "start_s": 2.072,
+   "end_s": 145.793,
+   "t_start": 2.1119,
+   "t_end": 145.8329,
+   "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_021/cameras/gsi_online_calibration.json

@@ -0,0 +1,259 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.464
+ },
+ "cameras": {
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+    -0.2461,
+    -1.1813
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+   "usable": true
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+    -27.85,
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+    1.3433
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+   "usable": true
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+  "left_front": {
+   "role": "rig origin"
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+    "left_eye",
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+   "split_deg": 0.0111,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
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+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
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+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
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+  }
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+ "input_fingerprint": "3d2584fcd194d882",
+ "kind": "online_calibration",
+ "output_sha256": "5780612b1674bbdd41de9732325449dddbfa3ffdb7243c9cf06a7046b12d649e",
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+  "right_front-right_eye": 0.704
+ },
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+  "left_eye": 35.554,
+  "left_front": 32.926,
+  "right": 36.786,
+  "right_eye": 35.001,
+  "right_front": 32.485
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+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
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+ "version": 1
+}

actions/environment_coupled_wholebody/EC06/session_021/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d63fc6331c9d6281340e4510fe2838472a004f8225b39ea4bdb956faa4d7866
+size 853450

actions/environment_coupled_wholebody/EC06/session_021/meta.json

@@ -282,44 +282,44 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
  "canonical": {
-  "generated_at_utc": "2026-10-27T06:42:57.526011+00:00",
+  "generated_at_utc": "2026-10-28T23:21:51.073452+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": [
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-    0.0116771196,
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+    0.9999319725,
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   "T_canon_nokov_mm": [
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-    1.167712e-05,
-    -7.958e-09,
+    0.000999931973,
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     0.0
    ],
    [
@@ -331,20 +331,20 @@
   ],
   "block": "20261026-morning",
   "block_assignment": "trc",
-  "tilt_removed_deg": 0.6736075582400546,
+  "tilt_removed_deg": 0.6697930607742368,
   "plane_status": "ok",
   "floor": {
-   "sole_marker_p1_mm": 32.1,
-   "headtop_p95_mm": 1654.5
+   "sole_marker_p1_mm": 32.2,
+   "headtop_p95_mm": 1655.2
   },
   "gravity_check": {
    "static_samples": 3087,
    "g_world_mean_m_s2": [
-    -0.0803,
-    0.0201,
-    9.7684
+    -0.0804,
+    0.0259,
+    9.7683
    ],
-   "tilt_from_z_deg": 0.486,
+   "tilt_from_z_deg": 0.496,
    "tilt_from_z_deg_before_levelling": 1.157,
    "magnitude_m_s2": 9.7687
   },
@@ -363,7 +363,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-27T07:32:40.042804+00:00",
+  "generated_at_utc": "2026-10-29T04:27:24.044339+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -372,8 +372,8 @@
   "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": {
@@ -416,8 +416,8 @@
   "valid_fraction": 1.0,
   "qc": {
    "lowest_vertex_mm": {
-    "median": -17.4,
-    "p5": -22.9
+    "median": -16.9,
+    "p5": -22.8
    },
    "frames_checked": 597,
    "stature_mm": 1614.2
@@ -432,19 +432,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 180.0,
+    "Q_deg": 167.0,
     "Q_rotvec": [
-     -2.98662,
-     0.4392,
-     0.86995
+     2.90237,
+     -0.19585,
+     0.18129
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 173.6,
-    "opposite_sign_bend_deg": 37.0,
+    "wrist_bend_deg_median": 143.3,
+    "opposite_sign_bend_deg": 57.1,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.57,
     "hand_vs_marker_frame_deg": {
-     "before": 179.14,
+     "before": 166.9,
      "after": 2.57
     },
     "markers_on_wrist": [
@@ -452,15 +452,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -171.32,
+     "twist_moved_deg": 142.66,
      "wrist_twist_deg_after": {
-      "median": -2.47,
+      "median": 0.0,
       "iqr": [
-       -6.5,
-       1.1
+       -4.0,
+       3.5
       ]
      },
-     "wrist_total_deg_median_after": 20.7,
+     "wrist_total_deg_median_after": 20.2,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -471,19 +471,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 0.0,
+    "Q_deg": 178.94,
     "Q_rotvec": [
-     0.0,
-     0.0,
-     -0.0
+     -3.06337,
+     -0.11348,
+     0.59709
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 26.0,
-    "opposite_sign_bend_deg": 172.3,
+    "wrist_bend_deg_median": 149.0,
+    "opposite_sign_bend_deg": 62.1,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 4.27,
     "hand_vs_marker_frame_deg": {
-     "before": 4.27,
+     "before": 177.33,
      "after": 4.27
     },
     "markers_on_wrist": [
@@ -491,7 +491,7 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -0.0,
+     "twist_moved_deg": -148.3,
      "wrist_twist_deg_after": {
       "median": 0.0,
       "iqr": [
@@ -509,40 +509,136 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-28T06:50:14.666406+00:00",
+   "generated_at_utc": "2026-10-29T04:27:27.568565+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 7.99,
+    "offset_rotvec": [
+     -0.0836,
+     0.0979,
+     0.0535
+    ],
+    "dev_deg": {
+     "median": 8.1,
+     "p90": 16.8
+    },
+    "samples": 4408,
+    "accepted": 4270,
+    "wrist_pos_err_mm_median": 42.8,
+    "per_camera": {
+     "head": {
+      "samples": 4408,
+      "accepted": 4270,
+      "gate_deg": 30.0,
+      "offset_deg": 7.99,
+      "tier": "primary",
+      "dev_deg_median": 8.1,
+      "wrist_pos_err_mm_median": 42.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 17136,
+     "interpolated": 336,
+     "mean_hand": 428,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9761,
+    "observed_fraction_of_valid": 0.9761,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 9.54,
+     "smplx": 2.31
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.7,
+      "p90": 12.1
+     },
+     "registered": {
+      "median": 8.5,
+      "p90": 9.5
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 15.62,
+    "offset_rotvec": [
+     -0.1911,
+     0.1938,
+     -0.0134
+    ],
+    "dev_deg": {
+     "median": 5.7,
+     "p90": 14.82
+    },
+    "samples": 4389,
+    "accepted": 4243,
+    "wrist_pos_err_mm_median": 58.6,
+    "per_camera": {
+     "head": {
+      "samples": 4389,
+      "accepted": 4243,
+      "gate_deg": 30.0,
+      "offset_deg": 15.62,
+      "tier": "primary",
+      "dev_deg_median": 5.7,
+      "wrist_pos_err_mm_median": 58.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 17020,
+     "interpolated": 320,
+     "mean_hand": 560,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9687,
+    "observed_fraction_of_valid": 0.9687,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 16.52,
+     "smplx": 4.24
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 18.1,
+      "p90": 28.3
+     },
+     "registered": {
+      "median": 24.7,
+      "p90": 36.9
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:33:15.902316+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/EC06/session_021",
   "family": "environment_coupled_wholebody",
   "primitive": "EC06",
   "source_session": "20261026/EC06/20261026_013529_session9"
  },
+ "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": [
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-   "name": "CcBlue",
-   "object_type": "CcBlue",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
-  },
-  {
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+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/environment_coupled_wholebody/EC06/session_022",
+  "family": "environment_coupled_wholebody",
+  "primitive": "EC06",
+  "source_session": "20261026/EC06/20261026_110703_session106"
+ },
+ "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": [
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+   "name": "BigBox1",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "CcBlue",
+   "object_type": "CcBlue",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "CcOrange",
+   "object_type": "CcOrange",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "CcRed",
+   "object_type": "CcRed",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
+}

actions/environment_coupled_wholebody/EC06/session_022/motions/head_rig.npz

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