Release update 2026-11-05: 5760 sessions, instructions, annotations (part 127)

actions/human_human_locomanipulation/HH05/session_002/annotations.json

@@ -0,0 +1,39 @@
+{
+ "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": "HH05",
+ "instruction": "Hand the long object to your partner. Work out between you how to pass it without hitting anything. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it.",
+ "segments": [
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+   "video": "left_eye",
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+   "instruction": "Hand the long object to your partner. Work out between you how to pass it without hitting anything. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
+  {
+   "id": "fb23041e-d677-4486-a0d1-124363338cf1",
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+   "instruction": "Hand the long object to your partner. Work out between you how to pass it without hitting anything. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  }
+ ]
+}

actions/human_human_locomanipulation/HH05/session_002/cameras/gsi_online_calibration.json

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+{
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+ "files": {
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actions/human_human_locomanipulation/HH05/session_002/cameras/slam.npz

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actions/human_human_locomanipulation/HH05/session_002/meta.json

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   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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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": {
@@ -708,10 +708,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
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  "release": {
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   "family": "human_human_locomanipulation",
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+  "instruction": "Hand the long object to your partner. Work out between you how to pass it without hitting anything. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
  }
 }

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actions/human_human_locomanipulation/HH05/session_003/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": "HH05",
+ "instruction": "Hand the long object to your partner. Work out between you how to pass it without hitting anything. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it.",
+ "segments": [
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+   "video": "left_eye",
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+   "segment": "segment1",
+   "action": "HH05",
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+   "instruction": "Hand the long object to your partner. Work out between you how to pass it without hitting anything. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  },
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+   "id": "6713bc61-d236-4e95-b91f-f369bacbc1cc",
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+   "instruction": "Hand the long object to your partner. Work out between you how to pass it without hitting anything. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  }
+ ]
+}

actions/human_human_locomanipulation/HH05/session_003/cameras/gsi_online_calibration.json

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 }

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 }

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+}

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actions/human_human_locomanipulation/HH05/session_006/meta.json

@@ -281,44 +281,44 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
  "canonical": {
-  "generated_at_utc": "2026-10-27T06:43:05.574705+00:00",
+  "generated_at_utc": "2026-10-28T23:22:09.391116+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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@@ -330,20 +330,20 @@
   ],
   "block": "20261026-afternoon",
   "block_assignment": "trc",
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+  "tilt_removed_deg": 0.458414067009704,
   "plane_status": "ok",
   "floor": {
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-   "headtop_p95_mm": 1622.1
+   "sole_marker_p1_mm": 30.0,
+   "headtop_p95_mm": 1620.0
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@@ -363,7 +363,7 @@
   ]
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+  "generated_at_utc": "2026-10-29T04:49:46.180192+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
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@@ -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": {
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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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@@ -421,8 +421,8 @@
   "valid_fraction": 0.9996,
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-    "p5": 1.0
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@@ -437,19 +437,19 @@
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     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
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@@ -458,12 +458,12 @@
      "LHandOut"
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       "iqr": [
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+       -1.2,
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@@ -478,19 +478,19 @@
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     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
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     "hand_vs_marker_frame_deg": {
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+     "before": 47.98,
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@@ -498,7 +498,7 @@
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@@ -515,14 +515,128 @@
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+   "generated_at_utc": "2026-10-29T04:49:49.310130+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
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+      "gate_deg": 30.0,
+      "offset_deg": 12.11,
+      "tier": "primary",
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+    "palm_axis_vs_markers_deg": {
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  "release": {
   "release_path": "actions/human_human_locomanipulation/HH05/session_006",
   "family": "human_human_locomanipulation",
   "primitive": "HH05",
   "source_session": "20261026/HH05/20261026_072008_session32"
+ },
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+  "instruction": "Hand the long object to your partner. Work out between you how to pass it without hitting anything. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
  }
 }

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actions/human_human_locomanipulation/HH05/session_007/annotations.json

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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": "HH05",
+ "instruction": "Hand the long object to your partner. Work out between you how to pass it without hitting anything. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it.",
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+   "instruction": "Hand the long object to your partner. Work out between you how to pass it without hitting anything. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  }
+ ]
+}

actions/human_human_locomanipulation/HH05/session_007/cameras/gsi_online_calibration.json

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actions/human_human_locomanipulation/HH05/session_007/cameras/slam.npz

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actions/human_human_locomanipulation/HH05/session_007/meta.json

@@ -281,44 +281,44 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
  "canonical": {
-  "generated_at_utc": "2026-10-27T06:43:05.672529+00:00",
+  "generated_at_utc": "2026-10-28T23:22:09.416173+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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@@ -330,20 +330,20 @@
   ],
   "block": "20261026-afternoon",
   "block_assignment": "trc",
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+  "tilt_removed_deg": 0.458414067009704,
   "plane_status": "ok",
   "floor": {
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-   "headtop_p95_mm": 1556.8
+   "sole_marker_p1_mm": 43.5,
+   "headtop_p95_mm": 1561.2
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+   "tilt_from_z_deg": 2.128,
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@@ -363,7 +363,7 @@
   ]
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-  "generated_at_utc": "2026-10-27T07:48:08.272751+00:00",
+  "generated_at_utc": "2026-10-29T04:49:46.324028+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",
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@@ -416,8 +416,8 @@
   "valid_fraction": 1.0,
   "qc": {
    "lowest_vertex_mm": {
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-    "p5": -14.6
+    "median": -11.0,
+    "p5": -11.5
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    "stature_mm": 1582.0
@@ -432,19 +432,19 @@
   "wrist_correction": {
    "left": {
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+     0.21118
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-    "opposite_sign_bend_deg": 38.1,
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+    "opposite_sign_bend_deg": 128.8,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
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     "hand_vs_marker_frame_deg": {
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+     "before": 33.28,
      "after": 7.25
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@@ -452,12 +452,12 @@
      "LHandOut"
     ],
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+     "twist_moved_deg": 63.5,
      "wrist_twist_deg_after": {
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       "iqr": [
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-       1.7
+       -2.0,
+       1.8
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@@ -473,19 +473,19 @@
    },
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+    "wrist_bend_deg_median": 19.1,
+    "opposite_sign_bend_deg": 176.6,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
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     "hand_vs_marker_frame_deg": {
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@@ -493,7 +493,7 @@
      "RHandOut"
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       "iqr": [
@@ -511,14 +511,128 @@
     },
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+   "generated_at_utc": "2026-10-29T04:49:49.517624+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+     "p90": 37.11
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+    "samples": 3367,
+    "accepted": 2221,
+    "wrist_pos_err_mm_median": 76.1,
+    "per_camera": {
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+      "accepted": 2221,
+      "gate_deg": 30.0,
+      "offset_deg": 11.1,
+      "tier": "primary",
+      "dev_deg_median": 25.67,
+      "wrist_pos_err_mm_median": 76.1
+     }
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+    "observed_fraction_of_valid": 0.7195,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 1.62
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+      "p90": 20.6
+     },
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+      "tier": "primary",
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+  },
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:32:32.532562+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/human_human_locomanipulation/HH05/session_007",
   "family": "human_human_locomanipulation",
   "primitive": "HH05",
   "source_session": "20261026/HH05/20261026_081753_session50"
+ },
+ "task": {
+  "primitive": "HH05",
+  "instruction": "Hand the long object to your partner. Work out between you how to pass it without hitting anything. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
  }
 }

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