Release update 2026-11-05: 5760 sessions, instructions, annotations (part 62)

actions/environment_coupled_wholebody/EC06/session_017/cameras/gsi_online_calibration.json

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actions/environment_coupled_wholebody/EC06/session_017/cameras/slam.npz

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actions/environment_coupled_wholebody/EC06/session_017/meta.json

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   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
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   "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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   "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)",
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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": {
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    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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   "family": "environment_coupled_wholebody",
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+ "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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actions/environment_coupled_wholebody/EC06/session_018/cameras/slam.npz

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actions/environment_coupled_wholebody/EC06/session_018/meta.json

@@ -353,8 +353,8 @@
   "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": {
@@ -493,19 +493,127 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
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+    "offset_rotvec": [
+     0.0633,
+     -0.087,
+     -0.2399
+    ],
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+     "median": 6.77,
+     "p90": 18.04
+    },
+    "samples": 3851,
+    "accepted": 3815,
+    "wrist_pos_err_mm_median": 27.9,
+    "per_camera": {
+     "head": {
+      "samples": 3851,
+      "accepted": 3815,
+      "gate_deg": 30.0,
+      "offset_deg": 15.06,
+      "tier": "primary",
+      "dev_deg_median": 6.77,
+      "wrist_pos_err_mm_median": 27.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15260,
+     "interpolated": 76,
+     "mean_hand": 138,
+     "no_body_fit": 266
+    },
+    "observed_fraction": 0.9743,
+    "observed_fraction_of_valid": 0.9911,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 9.13,
+     "smplx": 1.11
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 15.4,
+      "p90": 18.0
+     },
+     "registered": {
+      "median": 14.6,
+      "p90": 17.3
+     }
+    }
+   },
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+    "offset_rotvec": [
+     0.1133,
+     -0.3706,
+     0.2496
+    ],
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+     "p90": 9.81
+    },
+    "samples": 3822,
+    "accepted": 3822,
+    "wrist_pos_err_mm_median": 33.0,
+    "per_camera": {
+     "head": {
+      "samples": 3822,
+      "accepted": 3822,
+      "gate_deg": 30.0,
+      "offset_deg": 26.41,
+      "tier": "primary",
+      "dev_deg_median": 5.06,
+      "wrist_pos_err_mm_median": 33.0
+     }
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+     "interpolated": 0,
+     "mean_hand": 190,
+     "no_body_fit": 266
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+    "observed_fraction": 0.971,
+    "observed_fraction_of_valid": 0.9877,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 24.1,
+     "smplx": 1.8
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 14.9,
+      "p90": 18.8
+     },
+     "registered": {
+      "median": 13.2,
+      "p90": 17.1
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:40:17.060863+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_018",
   "family": "environment_coupled_wholebody",
   "primitive": "EC06",
   "source_session": "20261024/EC06/20261024_054541_session53"
  },
+ "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"
-  },
   {
    "name": "CcGreen",
    "object_type": "CcGreen",
@@ -517,42 +625,6 @@
    "object_type": "CcOrange",
    "source": "mocap",
    "pose_frame": "mesh"
-  },
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-   "name": "CcRed",
-   "object_type": "CcRed",
-   "source": "mocap",
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-   "source": "mocap",
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-   "source": "mocap",
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-   "object_type": "LittleBox",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
-  },
-  {
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-   "object_type": "LittleBox",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
-  },
-  {
-   "name": "Table",
-   "object_type": "Table",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
   }
  ]
 }

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