Release update 2026-11-05: 5760 sessions, instructions, annotations (part 63)

actions/environment_coupled_wholebody/EC06/session_019/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": 140.899944,
+   "video": "left_eye",
+   "video_t_start": 0.04004112750753175
+  }
+ ],
+ "episodes": [
+  {
+   "id": "2a41cafa-81aa-4e52-b5ff-675d6eb75dfb",
+   "segment": "segment1",
+   "action": "EC06",
+   "quality": "valid",
+   "start_s": 1.769,
+   "end_s": 136.993,
+   "t_start": 1.809,
+   "t_end": 137.033,
+   "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_019/cameras/gsi_online_calibration.json

@@ -0,0 +1,261 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.481
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
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+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.6017,
+   "gate_fail": [],
+   "held_out_px_after": 0.516,
+   "held_out_px_before": 20.907,
+   "inliers": 2498,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.0784,
+    -0.2171,
+    -1.1642
+   ],
+   "split_deg": 0.0171,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
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+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.1585,
+   "gate_fail": [],
+   "held_out_px_after": 0.635,
+   "held_out_px_before": 11.271,
+   "inliers": 3564,
+   "position_fitted": true,
+   "position_mm": [
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+    -28.89,
+    -0.42
+   ],
+   "position_sigma_mm": 0.287,
+   "position_split_mm": 3.753,
+   "rotvec_deg": [
+    1.4233,
+    -0.8855,
+    1.3598
+   ],
+   "split_deg": 0.0891,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 3.6616,
+   "gate_fail": [],
+   "held_out_px_after": 0.934,
+   "held_out_px_before": 10.384,
+   "inliers": 1286,
+   "position_fitted": false,
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+    -1.2318,
+    3.002
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+   "split_deg": 0.2483,
+   "usable": true
+  },
+  "right_eye": {
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+    "right_front",
+    "left_eye",
+    "left",
+    "right"
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+    -23.17,
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+    1.9098
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+   "split_deg": 0.0395,
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+    "left_eye",
+    "right_eye",
+    "left",
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+   "held_out_px_after": 0.358,
+   "held_out_px_before": 3.334,
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+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2259,
+    -0.422,
+    -0.2855
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+   "split_deg": 0.0154,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "14e4af5b42800799329b1da3aa79add9616ce7722953cf8a3a0d7545e58ca812",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "ee5994d2667b89b0640b754bf053cd80c4d3c93246ffdfa97aedc5354eb85bba",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "471257bdb5b2c1a0a53b2d1fbef218d7a3015548a3806ae3855a845fc0641229",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "f4545dcf47ed99e4da59dba84a64c131a600a8f1ac7b10af0ad0cac339b44ee6",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "858177c8a54e7672",
+ "kind": "online_calibration",
+ "output_sha256": "9a6d057c133d6af01dfb84c803aa302ed6f4688e0d048cd05b60a21b6067b15a",
+ "overlap": {
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+  "left_eye-left": 0.695,
+  "left_eye-right": 0.702,
+  "left_front-left": 0.506,
+  "left_front-left_eye": 0.692,
+  "left_front-right": 0.458,
+  "left_front-right_eye": 0.698,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.699,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.706,
+  "right_front-left": 0.49,
+  "right_front-left_eye": 0.697,
+  "right_front-right": 0.464,
+  "right_front-right_eye": 0.704
+ },
+ "picture_change": {
+  "left": 44.268,
+  "left_eye": 45.28,
+  "left_front": 42.902,
+  "right": 48.831,
+  "right_eye": 44.53,
+  "right_front": 41.182
+ },
+ "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_019/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4103d17a2cc2118c5ad8a349471b3e7c11be0527c69fd8fa3e721facbc1dc6c5
+size 807079

actions/environment_coupled_wholebody/EC06/session_019/meta.json

@@ -275,44 +275,44 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
  "canonical": {
-  "generated_at_utc": "2026-10-27T06:42:57.260185+00:00",
+  "generated_at_utc": "2026-10-28T23:21:51.066274+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": [
    [
-    0.9999318201,
-    0.0116771196,
-    -7.9583e-06
+    0.9999319725,
+    0.0116640585,
+    -4.5245e-06
    ],
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+    4.5245e-06,
+    -0.0007757685,
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-    0.9999308912,
-    -0.0013630091
+    -0.0116640585,
+    0.9999316716,
+    -0.0007757685
    ]
   ],
   "scale_nokov_to_canon": 0.001,
   "T_canon_nokov_mm": [
    [
-    0.00099993182,
-    1.167712e-05,
-    -7.958e-09,
+    0.000999931973,
+    1.1664059e-05,
+    -4.524e-09,
     0.0
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     0.0
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-    -1.363009e-06,
+    -1.1664059e-05,
+    0.000999931672,
+    -7.75769e-07,
     0.0
    ],
    [
@@ -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": 32.3,
-   "headtop_p95_mm": 1657.5
+   "sole_marker_p1_mm": 32.4,
+   "headtop_p95_mm": 1658.1
   },
   "gravity_check": {
    "static_samples": 2793,
    "g_world_mean_m_s2": [
-    -0.1881,
-    -0.0386,
+    -0.1882,
+    -0.0328,
     9.7819
    ],
-   "tilt_from_z_deg": 1.125,
+   "tilt_from_z_deg": 1.119,
    "tilt_from_z_deg_before_levelling": 1.777,
    "magnitude_m_s2": 9.7838
   },
@@ -356,7 +356,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-27T07:31:12.276854+00:00",
+  "generated_at_utc": "2026-10-29T04:23:43.959229+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": 1.0,
   "qc": {
    "lowest_vertex_mm": {
-    "median": -15.1,
-    "p5": -20.0
+    "median": -14.4,
+    "p5": -19.9
    },
    "frames_checked": 564,
    "stature_mm": 1614.2
@@ -425,19 +425,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 180.0,
+    "Q_deg": 164.94,
     "Q_rotvec": [
-     -2.98662,
-     0.4392,
-     0.86995
+     2.85256,
+     -0.37787,
+     0.08262
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 175.1,
-    "opposite_sign_bend_deg": 34.1,
+    "wrist_bend_deg_median": 164.6,
+    "opposite_sign_bend_deg": 38.6,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.92,
     "hand_vs_marker_frame_deg": {
-     "before": 179.24,
+     "before": 164.87,
      "after": 2.92
     },
     "markers_on_wrist": [
@@ -445,15 +445,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -171.28,
+     "twist_moved_deg": 163.99,
      "wrist_twist_deg_after": {
-      "median": -4.84,
+      "median": 0.17,
       "iqr": [
-       -9.0,
-       -0.2
+       -4.0,
+       4.8
       ]
      },
-     "wrist_total_deg_median_after": 16.9,
+     "wrist_total_deg_median_after": 15.9,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -464,19 +464,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 0.0,
+    "Q_deg": 162.27,
     "Q_rotvec": [
-     0.0,
-     0.0,
-     -0.0
+     -2.78319,
+     -0.27948,
+     0.44329
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 24.0,
-    "opposite_sign_bend_deg": 173.1,
+    "wrist_bend_deg_median": 168.1,
+    "opposite_sign_bend_deg": 48.9,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 3.84,
     "hand_vs_marker_frame_deg": {
-     "before": 3.84,
+     "before": 162.7,
      "after": 3.84
     },
     "markers_on_wrist": [
@@ -484,12 +484,12 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -0.12,
+     "twist_moved_deg": -167.59,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": -0.12,
       "iqr": [
-       -3.3,
-       3.2
+       -3.5,
+       3.0
       ]
      },
      "wrist_total_deg_median_after": 23.0,
@@ -502,40 +502,136 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-28T06:50:13.276424+00:00",
+   "generated_at_utc": "2026-10-29T04:23:46.936000+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 10.17,
+    "offset_rotvec": [
+     -0.0793,
+     0.136,
+     0.0822
+    ],
+    "dev_deg": {
+     "median": 7.43,
+     "p90": 18.34
+    },
+    "samples": 4153,
+    "accepted": 4020,
+    "wrist_pos_err_mm_median": 14.5,
+    "per_camera": {
+     "head": {
+      "samples": 4153,
+      "accepted": 4020,
+      "gate_deg": 30.0,
+      "offset_deg": 10.17,
+      "tier": "primary",
+      "dev_deg_median": 7.43,
+      "wrist_pos_err_mm_median": 14.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 16096,
+     "interpolated": 108,
+     "mean_hand": 712,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9579,
+    "observed_fraction_of_valid": 0.9579,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 10.95,
+     "smplx": 2.63
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 3.7,
+      "p90": 5.5
+     },
+     "registered": {
+      "median": 3.8,
+      "p90": 6.5
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 11.59,
+    "offset_rotvec": [
+     -0.0771,
+     0.1859,
+     -0.0206
+    ],
+    "dev_deg": {
+     "median": 7.75,
+     "p90": 14.72
+    },
+    "samples": 4141,
+    "accepted": 4067,
+    "wrist_pos_err_mm_median": 52.6,
+    "per_camera": {
+     "head": {
+      "samples": 4141,
+      "accepted": 4067,
+      "gate_deg": 30.0,
+      "offset_deg": 11.59,
+      "tier": "primary",
+      "dev_deg_median": 7.75,
+      "wrist_pos_err_mm_median": 52.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 16304,
+     "interpolated": 426,
+     "mean_hand": 186,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.989,
+    "observed_fraction_of_valid": 0.989,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.04,
+     "smplx": 3.72
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.4,
+      "p90": 23.1
+     },
+     "registered": {
+      "median": 25.2,
+      "p90": 38.6
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:33:20.932095+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_019",
   "family": "environment_coupled_wholebody",
   "primitive": "EC06",
   "source_session": "20261026/EC06/20261026_012941_session7"
  },
+ "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": [
-  {
-   "name": "CcBlue",
-   "object_type": "CcBlue",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
-  },
-  {
-   "name": "CcGreen",
-   "object_type": "CcGreen",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
-  },
   {
    "name": "CcOrange",
    "object_type": "CcOrange",
    "source": "mocap",
    "pose_frame": "mesh"
-  },
-  {
-   "name": "CcRed",
-   "object_type": "CcRed",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
   }
  ]
 }

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 {
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+ "generated_at_utc": "2026-10-29T13:37:43.506541+00:00",
  "generated_by": "scripts/export_objects.py",
  "frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)",
  "grid": "body grid (smplx.npz t / frame_index)",

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actions/environment_coupled_wholebody/EC06/session_020/annotations.json

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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": "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.",
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+  }
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+}

actions/environment_coupled_wholebody/EC06/session_020/cameras/gsi_online_calibration.json

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actions/environment_coupled_wholebody/EC06/session_020/cameras/slam.npz

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actions/environment_coupled_wholebody/EC06/session_020/meta.json

@@ -275,44 +275,44 @@
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   ],
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+  "generated_at_utc": "2026-10-29T04:23:47.931042+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
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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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     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
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     "markers_on_wrist": [
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@@ -502,40 +502,136 @@
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+   "generated_at_utc": "2026-10-29T04:23:50.902596+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
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+    "observed_fraction_of_valid": 0.9826,
+    "palm_axis_vs_markers_deg": {
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+    "hand_marker_to_mesh_mm": {
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+      "p90": 26.7
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+  ],
+  "generated_at_utc": "2026-11-03T17:33:16.038899+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_020",
   "family": "environment_coupled_wholebody",
   "primitive": "EC06",
   "source_session": "20261026/EC06/20261026_013216_session8"
  },
+ "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."
+ },
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-   "name": "CcBlue",
-   "object_type": "CcBlue",
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-   "object_type": "CcRed",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
   }
  ]
 }

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 {
  "session": "20261026/EC06/20261026_013216_session8",
- "generated_at_utc": "2026-10-28T13:19:49.108840+00:00",
+ "generated_at_utc": "2026-10-29T13:37:46.305523+00:00",
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  "frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)",
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