Release update 2026-11-05: 5760 sessions, instructions, annotations (part 110)

actions/human_human_locomanipulation/HH02/session_002/cameras/gsi_online_calibration.json

@@ -0,0 +1,257 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.428
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.5803,
+   "gate_fail": [],
+   "held_out_px_after": 0.46,
+   "held_out_px_before": 22.698,
+   "inliers": 2966,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.2415,
+    -0.2039,
+    -0.9562
+   ],
+   "split_deg": 0.1026,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.3997,
+   "gate_fail": [],
+   "held_out_px_after": 0.478,
+   "held_out_px_before": 9.496,
+   "inliers": 4783,
+   "position_fitted": true,
+   "position_mm": [
+    2.59,
+    -26.14,
+    -2.71
+   ],
+   "position_sigma_mm": 0.235,
+   "position_split_mm": 2.638,
+   "rotvec_deg": [
+    1.7556,
+    -0.8632,
+    1.3898
+   ],
+   "split_deg": 0.0541,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 3.3171,
+   "gate_fail": [],
+   "held_out_px_after": 0.794,
+   "held_out_px_before": 8.779,
+   "inliers": 1463,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.6687,
+    -1.2395,
+    2.585
+   ],
+   "split_deg": 0.1514,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 3.0013,
+   "gate_fail": [],
+   "held_out_px_after": 0.434,
+   "held_out_px_before": 4.317,
+   "inliers": 4479,
+   "position_fitted": true,
+   "position_mm": [
+    1.14,
+    -21.28,
+    -0.51
+   ],
+   "position_sigma_mm": 0.232,
+   "position_split_mm": 0.207,
+   "rotvec_deg": [
+    1.7488,
+    -1.4271,
+    1.9781
+   ],
+   "split_deg": 0.0574,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.5868,
+   "gate_fail": [],
+   "held_out_px_after": 0.408,
+   "held_out_px_before": 5.642,
+   "inliers": 3602,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2173,
+    -0.5108,
+    -0.1902
+   ],
+   "split_deg": 0.0337,
+   "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": "7b89296eb7e638416f457881fe33d24b6adbe49f38f55da91bbb6e0fac2bcf51",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "a660b5597ece6ce2a17e0641214e27d268aab46c4ed23306ac879aeb947854e0",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "9fd766134e72452c42eee3ff582340e7b1eb71d171e533f0a72ec2fa80ea6f47",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "c974ac2c6a02e7e690c756e5987463073b1fda0c3389bea684a5008e28481b4c",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "51739e2fad446ffa",
+ "kind": "online_calibration",
+ "output_sha256": "dd7d0eb228e8877d6ca0b610139524e521f10ad377a5f1474a8d1435f220d828",
+ "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": 45.968,
+  "left_eye": 48.001,
+  "left_front": 45.331,
+  "right": 47.045,
+  "right_eye": 48.092,
+  "right_front": 44.689
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   4521940600555,
+   4522940456111,
+   4525940478333,
+   4526940489444,
+   4529940478333,
+   4530940467222,
+   4534940445000,
+   4535940456111,
+   4538940445000,
+   4539940589444,
+   4540940545000,
+   4541940445000,
+   4546940600555,
+   4547940478333,
+   4548940522777,
+   4552940467222,
+   4553940478333,
+   4557940533888,
+   4558940467222,
+   4559940456111,
+   4564940478333,
+   4565940467222,
+   4567940467222,
+   4568940478333,
+   4569940445000,
+   4570940445000,
+   4575940478333,
+   4576940445000,
+   4577940622777,
+   4581940489444,
+   4582940478333,
+   4585940622777,
+   4586940467222,
+   4588940500555,
+   4589940522777,
+   4593940467222,
+   4594940467222,
+   4596940478333,
+   4597940467222,
+   4598940445000,
+   4599940478333,
+   4601940445000,
+   4602940445000,
+   4605940489444,
+   4606940545000,
+   4609940478333,
+   4610940445000,
+   4613940478333,
+   4614940600555,
+   4619940456111,
+   4620940489444,
+   4622940489444,
+   4623940478333,
+   4624940478333,
+   4628940600555,
+   4629940522777
+  ]
+ },
+ "version": 1
+}

actions/human_human_locomanipulation/HH02/session_002/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62cf6859c7a6c04828186090b7c78d840d40a53b6d6c34501ed96c0298832ab6
+size 730340

actions/human_human_locomanipulation/HH02/session_002/meta.json

@@ -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",
    "hand_marker_offsets_m": {
     "left": {
@@ -517,10 +517,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 10.23,
+    "offset_rotvec": [
+     0.1608,
+     0.0656,
+     -0.0414
+    ],
+    "dev_deg": {
+     "median": 6.32,
+     "p90": 14.02
+    },
+    "samples": 3528,
+    "accepted": 3400,
+    "wrist_pos_err_mm_median": 25.1,
+    "per_camera": {
+     "head": {
+      "samples": 3528,
+      "accepted": 3400,
+      "gate_deg": 30.0,
+      "offset_deg": 10.23,
+      "tier": "primary",
+      "dev_deg_median": 6.32,
+      "wrist_pos_err_mm_median": 25.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13609,
+     "interpolated": 598,
+     "mean_hand": 997,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9344,
+    "observed_fraction_of_valid": 0.9344,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.64,
+     "smplx": 1.67
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.1,
+      "p90": 18.6
+     },
+     "registered": {
+      "median": 9.7,
+      "p90": 18.1
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 6.08,
+    "offset_rotvec": [
+     -0.0183,
+     0.1041,
+     -0.0086
+    ],
+    "dev_deg": {
+     "median": 6.47,
+     "p90": 13.64
+    },
+    "samples": 3727,
+    "accepted": 3644,
+    "wrist_pos_err_mm_median": 44.0,
+    "per_camera": {
+     "head": {
+      "samples": 3727,
+      "accepted": 3644,
+      "gate_deg": 30.0,
+      "offset_deg": 6.08,
+      "tier": "primary",
+      "dev_deg_median": 6.47,
+      "wrist_pos_err_mm_median": 44.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14599,
+     "interpolated": 332,
+     "mean_hand": 273,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.982,
+    "observed_fraction_of_valid": 0.982,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 5.52,
+     "smplx": 1.82
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.3,
+      "p90": 11.5
+     },
+     "registered": {
+      "median": 9.2,
+      "p90": 10.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:40:11.039283+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/HH02/session_002",
   "family": "human_human_locomanipulation",
   "primitive": "HH02",
   "source_session": "20261024/HH02/20261024_075914_session21"
+ },
+ "task": {
+  "primitive": "HH02",
+  "instruction": "Pick the object up from the shelf, walk over to your partner, hand it to them, and walk back. Then do it again with the next object. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
  }
 }

actions/human_human_locomanipulation/HH02/session_002/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b20e3c6e997ba4192fb3047a8371e9ec6fec45d8c8f1ee34fe3816431389e66
+size 4921778

actions/human_human_locomanipulation/HH02/session_002/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:16dba40c2afc196348e9942553f65953cd16823519c15de881dbb019b831ecc0
-size 5847287
+oid sha256:21778d85ab56c4427bbe6129e47dc4b87534ddc9e1749aaa59ae7d38f610e325
+size 10798157