Release update 2026-11-05: 5760 sessions, instructions, annotations (part 95)

actions/environment_coupled_wholebody/EC11/session_007/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": "EC11",
+ "instruction": "Turn the cart round to face the other way without moving it out of the marked square, then turn it back. Repeat until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 88.533356,
+   "video": "left_eye",
+   "video_t_start": 0.039448361282205205
+  }
+ ],
+ "episodes": [
+  {
+   "id": "88ba35d2-15d5-4a65-adf8-ea3afbfbe9fc",
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+   "action": "EC11",
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+   "end_s": 86.072,
+   "t_start": 1.7994,
+   "t_end": 86.1114,
+   "instruction": "Turn the cart round to face the other way without moving it out of the marked square, then turn it back. Repeat until the operator says stop."
+  }
+ ]
+}

actions/environment_coupled_wholebody/EC11/session_007/cameras/gsi_online_calibration.json

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+{
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+ },
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+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
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+ "kind": "online_calibration",
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+ "picture_change": {
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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/EC11/session_007/cameras/slam.npz

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actions/environment_coupled_wholebody/EC11/session_007/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)",
+   "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": {
@@ -515,12 +515,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
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+  "cameras": {},
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+    "hand_marker_to_mesh_mm": {
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+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:36:19.176887+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/EC11/session_007",
   "family": "environment_coupled_wholebody",
   "primitive": "EC11",
   "source_session": "20261019/EC11/20261019_110108_session88"
  },
+ "task": {
+  "primitive": "EC11",
+  "instruction": "Turn the cart round to face the other way without moving it out of the marked square, then turn it back. Repeat until the operator says stop."
+ },
  "objects": [
   {
    "name": "BigBox",

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actions/environment_coupled_wholebody/EC11/session_008/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": "EC11",
+ "instruction": "Turn the cart round to face the other way without moving it out of the marked square, then turn it back. Repeat until the operator says stop.",
+ "segments": [
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+   "id": "segment1",
+   "duration_s": 91.733289,
+   "video": "left_eye",
+   "video_t_start": 0.03977237573024767
+  }
+ ],
+ "episodes": [
+  {
+   "id": "80cba218-fe79-4162-b949-d78d1e20a872",
+   "segment": "segment1",
+   "action": "EC11",
+   "quality": "valid",
+   "start_s": 2.877,
+   "end_s": 87.233,
+   "t_start": 2.9168,
+   "t_end": 87.2728,
+   "instruction": "Turn the cart round to face the other way without moving it out of the marked square, then turn it back. Repeat until the operator says stop."
+  }
+ ]
+}

actions/environment_coupled_wholebody/EC11/session_008/cameras/gsi_online_calibration.json

@@ -0,0 +1,257 @@
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@@ -505,12 +505,126 @@
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actions/environment_coupled_wholebody/EC11/session_011/meta.json

@@ -275,44 +275,44 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
  "canonical": {
-  "generated_at_utc": "2026-10-27T06:42:59.466768+00:00",
+  "generated_at_utc": "2026-10-28T23:21:57.141522+00:00",
   "generated_by": "scripts/canonicalise_dataset.py",
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@@ -324,20 +324,20 @@
   ],
   "block": "20261026-morning",
   "block_assignment": "trc",
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+  "tilt_removed_deg": 0.6697930607742368,
   "plane_status": "ok",
   "floor": {
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-   "headtop_p95_mm": 1647.6
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+   "headtop_p95_mm": 1647.4
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+   "tilt_from_z_deg": 0.622,
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@@ -356,7 +356,7 @@
   ]
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-  "generated_at_utc": "2026-10-27T07:38:36.618188+00:00",
+  "generated_at_utc": "2026-10-29T04:38:19.262265+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
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@@ -365,8 +365,8 @@
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   "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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     "left": {
@@ -409,8 +409,8 @@
   "valid_fraction": 0.9998,
   "qc": {
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-    "p5": 12.8
+    "median": 18.8,
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    "stature_mm": 1614.2
@@ -425,19 +425,19 @@
   "wrist_correction": {
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+    "Q_deg": 88.76,
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+     1.50998,
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-    "opposite_sign_bend_deg": 27.8,
+    "wrist_bend_deg_median": 115.5,
+    "opposite_sign_bend_deg": 79.1,
     "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": 88.87,
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     "markers_on_wrist": [
@@ -445,15 +445,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
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+     "twist_moved_deg": 111.06,
      "wrist_twist_deg_after": {
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+      "median": 0.0,
       "iqr": [
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-       -3.6
+       -10.3,
+       7.6
       ]
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+     "wrist_total_deg_median_after": 30.2,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -464,19 +464,19 @@
    },
    "right": {
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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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@@ -484,9 +484,9 @@
      "RHandOut"
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      "wrist_twist_deg_after": {
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@@ -502,22 +502,128 @@
     },
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+   "generated_at_utc": "2026-10-29T04:38:22.448126+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
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+      "tier": "primary",
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+     }
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+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  ],
+  "generated_at_utc": "2026-11-03T17:33:13.825548+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/EC11/session_011",
   "family": "environment_coupled_wholebody",
   "primitive": "EC11",
   "source_session": "20261026/EC11/20261026_022057_session21"
  },
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-   "name": "Ramp",
-   "object_type": "Ramp",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
-  }
- ]
+ "task": {
+  "primitive": "EC11",
+  "instruction": "Turn the cart round to face the other way without moving it out of the marked square, then turn it back. Repeat until the operator says stop."
+ }
 }

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