Release update 2026-11-05: 5760 sessions, instructions, annotations (part 34)

.gitattributes

@@ -41246,3 +41246,30 @@ actions/dynamic_recovery/DR15/session_008/raw/sensors/robowrist_imu_left.db filt
 actions/dynamic_recovery/DR15/session_008/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/dynamic_recovery/DR15/session_008/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/dynamic_recovery/DR15/session_008/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_014/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_014/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_014/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_014/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_014/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_014/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_014/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_014/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_014/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_015/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_015/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_015/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_015/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_015/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_015/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_015/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_015/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_015/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_016/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_016/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_016/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_016/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_016/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_016/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_016/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_016/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/environment_coupled_wholebody/EC01/session_016/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/environment_coupled_wholebody/EC01/session_013/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": "EC01",
+ "instruction": "Push the loaded cart from one corner of the room to the other, turn it round, and push it back. Keep going until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 128.966644,
+   "video": "left_eye",
+   "video_t_start": 0.04027507113158213
+  }
+ ],
+ "episodes": [
+  {
+   "id": "f88e2598-7d54-449d-9d21-10a4305d4d77",
+   "segment": "segment1",
+   "action": "EC01",
+   "quality": "valid",
+   "start_s": 1.72,
+   "end_s": 124.346,
+   "t_start": 1.7603,
+   "t_end": 124.3863,
+   "instruction": "Push the loaded cart from one corner of the room to the other, turn it round, and push it back. Keep going until the operator says stop."
+  }
+ ]
+}

actions/environment_coupled_wholebody/EC01/session_013/cameras/gsi_online_calibration.json

@@ -0,0 +1,209 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 12,
+  "median_px": 0.339
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.7368,
+   "gate_fail": [],
+   "held_out_px_after": 0.342,
+   "held_out_px_before": 19.824,
+   "inliers": 1559,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.1344,
+    -0.2359,
+    -1.2938
+   ],
+   "split_deg": 0.0099,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.2344,
+   "gate_fail": [],
+   "held_out_px_after": 0.376,
+   "held_out_px_before": 8.841,
+   "inliers": 2459,
+   "position_fitted": true,
+   "position_mm": [
+    1.73,
+    -27.17,
+    -0.47
+   ],
+   "position_sigma_mm": 0.259,
+   "position_split_mm": 1.652,
+   "rotvec_deg": [
+    1.4687,
+    -0.9079,
+    1.4181
+   ],
+   "split_deg": 0.034,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.6978,
+   "gate_fail": [],
+   "held_out_px_after": 0.701,
+   "held_out_px_before": 9.871,
+   "inliers": 369,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.8012,
+    -1.0766,
+    3.0447
+   ],
+   "split_deg": 0.1214,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.8543,
+   "gate_fail": [],
+   "held_out_px_after": 0.357,
+   "held_out_px_before": 4.672,
+   "inliers": 2589,
+   "position_fitted": true,
+   "position_mm": [
+    1.3,
+    -20.42,
+    -2.71
+   ],
+   "position_sigma_mm": 0.328,
+   "position_split_mm": 2.398,
+   "rotvec_deg": [
+    1.7088,
+    -1.3392,
+    1.853
+   ],
+   "split_deg": 0.0363,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 0.6259,
+   "gate_fail": [],
+   "held_out_px_after": 0.321,
+   "held_out_px_before": 2.708,
+   "inliers": 2121,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.254,
+    -0.4644,
+    -0.334
+   ],
+   "split_deg": 0.02,
+   "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": "9de4832e8400ef9394ec1ba77065b0b8103aa1929079a40156662fd9eff80c88",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "8d18885979919d8ad4859546a2dbd16ecef5b13802fd0a42904f0c7835e5d491",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "1c43503a93ad2352fd298c0d77bd6e7ca942348843af1bf16b4e41152a4b6fc4",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "0ac2317574067ffe4695401ed6a7ee71d4cdc6d3cbc119e4f51b46fdc141c13a",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "dd1c087706ca581b",
+ "kind": "online_calibration",
+ "output_sha256": "70444a93c2a93844c177ee844d0d220ba5b5c3c37e42f117fd7104ed8362e493",
+ "overlap": {
+  "left-right": 0.5,
+  "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": 42.287,
+  "left_eye": 35.102,
+  "left_front": 30.458,
+  "right": 35.864,
+  "right_eye": 35.241,
+  "right_front": 29.268
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
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+   7706622351000,
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+   7708622462111,
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+   7714622351000,
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+   7716622373222
+  ]
+ },
+ "version": 1
+}

actions/environment_coupled_wholebody/EC01/session_013/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:409229ddd2bdbf5f7344e5b7fe12d331a807e02b093b47a1d02f0f77f356fd9f
+size 741908

actions/environment_coupled_wholebody/EC01/session_013/meta.json

@@ -275,44 +275,44 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
  "canonical": {
-  "generated_at_utc": "2026-10-27T06:42:54.866541+00:00",
+  "generated_at_utc": "2026-10-28T23:21:44.913020+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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-    0.9999308912,
-    -0.0013630091
+    -0.0116640585,
+    0.9999316716,
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    ]
   ],
   "scale_nokov_to_canon": 0.001,
   "T_canon_nokov_mm": [
    [
-    0.00099993182,
-    1.167712e-05,
-    -7.958e-09,
+    0.000999931973,
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     0.0
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     0.0
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    [
@@ -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": 28.7,
-   "headtop_p95_mm": 1652.3
+   "sole_marker_p1_mm": 28.6,
+   "headtop_p95_mm": 1652.2
   },
   "gravity_check": {
    "static_samples": 1388,
    "g_world_mean_m_s2": [
-    -0.1384,
-    -0.0475,
+    -0.1385,
+    -0.0418,
     9.7577
    ],
-   "tilt_from_z_deg": 0.859,
+   "tilt_from_z_deg": 0.85,
    "tilt_from_z_deg_before_levelling": 1.495,
    "magnitude_m_s2": 9.7588
   },
@@ -356,7 +356,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-27T07:22:10.319075+00:00",
+  "generated_at_utc": "2026-10-29T04:12:08.238707+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": 0.9999,
   "qc": {
    "lowest_vertex_mm": {
-    "median": 9.2,
-    "p5": 4.7
+    "median": 9.4,
+    "p5": 4.9
    },
    "frames_checked": 517,
    "stature_mm": 1614.2
@@ -425,19 +425,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 180.0,
+    "Q_deg": 89.26,
     "Q_rotvec": [
-     -2.98662,
-     0.4392,
-     0.86995
+     1.52442,
+     -0.25141,
+     -0.20002
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 172.3,
-    "opposite_sign_bend_deg": 30.6,
+    "wrist_bend_deg_median": 68.4,
+    "opposite_sign_bend_deg": 130.8,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 4.35,
     "hand_vs_marker_frame_deg": {
-     "before": 179.66,
+     "before": 89.35,
      "after": 4.35
     },
     "markers_on_wrist": [
@@ -445,15 +445,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -169.33,
+     "twist_moved_deg": 58.18,
      "wrist_twist_deg_after": {
-      "median": -3.53,
+      "median": -0.0,
       "iqr": [
-       -7.9,
-       2.9
+       -4.4,
+       6.4
       ]
      },
-     "wrist_total_deg_median_after": 34.5,
+     "wrist_total_deg_median_after": 34.6,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -464,19 +464,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 0.0,
+    "Q_deg": 111.4,
     "Q_rotvec": [
-     0.0,
-     0.0,
-     -0.0
+     1.92296,
+     0.27777,
+     0.07461
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 22.3,
-    "opposite_sign_bend_deg": 175.5,
+    "wrist_bend_deg_median": 101.6,
+    "opposite_sign_bend_deg": 87.0,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 6.04,
     "hand_vs_marker_frame_deg": {
-     "before": 6.04,
+     "before": 111.84,
      "after": 6.04
     },
     "markers_on_wrist": [
@@ -484,9 +484,9 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -0.0,
+     "twist_moved_deg": -98.93,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": 0.0,
       "iqr": [
        -3.9,
        5.5
@@ -502,22 +502,128 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-28T06:50:07.724084+00:00",
+   "generated_at_utc": "2026-10-29T04:12:11.160287+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 21.29,
+    "offset_rotvec": [
+     -0.1996,
+     0.2902,
+     -0.1182
+    ],
+    "dev_deg": {
+     "median": 16.53,
+     "p90": 44.0
+    },
+    "samples": 3717,
+    "accepted": 2912,
+    "wrist_pos_err_mm_median": 25.1,
+    "per_camera": {
+     "head": {
+      "samples": 3717,
+      "accepted": 2912,
+      "gate_deg": 30.0,
+      "offset_deg": 21.29,
+      "tier": "primary",
+      "dev_deg_median": 16.53,
+      "wrist_pos_err_mm_median": 25.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11688,
+     "interpolated": 886,
+     "mean_hand": 2908,
+     "no_body_fit": 2
+    },
+    "observed_fraction": 0.8121,
+    "observed_fraction_of_valid": 0.8122,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 20.3,
+     "smplx": 1.64
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 11.8,
+      "p90": 14.9
+     },
+     "registered": {
+      "median": 10.7,
+      "p90": 13.0
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 12.0,
+    "offset_rotvec": [
+     0.0197,
+     -0.1676,
+     0.1241
+    ],
+    "dev_deg": {
+     "median": 7.84,
+     "p90": 19.57
+    },
+    "samples": 3627,
+    "accepted": 3466,
+    "wrist_pos_err_mm_median": 44.6,
+    "per_camera": {
+     "head": {
+      "samples": 3627,
+      "accepted": 3466,
+      "gate_deg": 30.0,
+      "offset_deg": 12.0,
+      "tier": "primary",
+      "dev_deg_median": 7.84,
+      "wrist_pos_err_mm_median": 44.6
+     }
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   "family": "environment_coupled_wholebody",
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+  "instruction": "Push the loaded cart from one corner of the room to the other, turn it round, and push it back. Keep going until the operator says stop."
+ }
 }

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+  "release_path": "actions/environment_coupled_wholebody/EC01/session_014",
+  "family": "environment_coupled_wholebody",
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+  "source_session": "20261026/EC01/20261026_102601_session91"
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+ },
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+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
+}

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+  "files": [
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+   "tracker0_zup.npz",
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+   "cameras_zup.npz"
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+   "generated_at_utc": "2026-10-29T04:11:55.958007+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/environment_coupled_wholebody/EC01/session_015",
+  "family": "environment_coupled_wholebody",
+  "primitive": "EC01",
+  "source_session": "20261026/EC01/20261026_102756_session92"
+ },
+ "task": {
+  "primitive": "EC01",
+  "instruction": "Push the loaded cart from one corner of the room to the other, turn it round, and push it back. Keep going until the operator says stop."
+ },
+ "objects": [
+  {
+   "name": "BigBox1",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
+}

actions/environment_coupled_wholebody/EC01/session_015/motions/head_rig.npz

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