Release update 2026-11-05: 5760 sessions, instructions, annotations (part 111)

actions/human_human_locomanipulation/HH02/session_003/cameras/gsi_online_calibration.json

@@ -0,0 +1,257 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.391
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.7399,
+   "gate_fail": [],
+   "held_out_px_after": 0.474,
+   "held_out_px_before": 20.216,
+   "inliers": 1982,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.1584,
+    -0.2749,
+    -1.2687
+   ],
+   "split_deg": 0.0852,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.3868,
+   "gate_fail": [],
+   "held_out_px_after": 0.42,
+   "held_out_px_before": 8.128,
+   "inliers": 3331,
+   "position_fitted": true,
+   "position_mm": [
+    0.97,
+    -26.77,
+    -2.19
+   ],
+   "position_sigma_mm": 0.125,
+   "position_split_mm": 1.97,
+   "rotvec_deg": [
+    1.6899,
+    -0.9027,
+    1.4234
+   ],
+   "split_deg": 0.0475,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.7125,
+   "gate_fail": [],
+   "held_out_px_after": 0.765,
+   "held_out_px_before": 12.692,
+   "inliers": 1351,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.6352,
+    -1.1417,
+    3.1313
+   ],
+   "split_deg": 0.0974,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.9024,
+   "gate_fail": [],
+   "held_out_px_after": 0.425,
+   "held_out_px_before": 4.747,
+   "inliers": 3361,
+   "position_fitted": true,
+   "position_mm": [
+    0.09,
+    -24.3,
+    0.04
+   ],
+   "position_sigma_mm": 0.126,
+   "position_split_mm": 2.366,
+   "rotvec_deg": [
+    1.6678,
+    -1.3455,
+    1.9574
+   ],
+   "split_deg": 0.1033,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.5469,
+   "gate_fail": [],
+   "held_out_px_after": 0.356,
+   "held_out_px_before": 2.745,
+   "inliers": 3446,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2319,
+    -0.4616,
+    -0.1797
+   ],
+   "split_deg": 0.0216,
+   "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": "dac3137f4b5641b920ea3a4b10b5ef15410c106c245a02ea2364519c7a13a860",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "1b2f2259b3fb43a180f962faf33c42f2d89afa0b9d7062e8ac2a6ea2a924d645",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "cc146f622ad88c73fd2d5ee05c5a65001a61fdd5537eaff7f9d1ed0d128bc3e9",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "80c3972c468013c261f32f01318bef1e8d90d7dede6f0fd506d565d09d930e4d",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "7abea9b22aad03a8",
+ "kind": "online_calibration",
+ "output_sha256": "d3d50d0e8f02958d345a37cdd8c01f3cf885068c04e005060f0e2674017c424a",
+ "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": 42.673,
+  "left_eye": 43.865,
+  "left_front": 44.95,
+  "right": 46.037,
+  "right_eye": 42.121,
+  "right_front": 44.659
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   979605021111,
+   980605021111,
+   985605021111,
+   986605043333,
+   989605054444,
+   990605065555,
+   993605021111,
+   994605021111,
+   998605054444,
+   999605032222,
+   1000605043333,
+   1001605054444,
+   1006605043333,
+   1007605021111,
+   1010605032222,
+   1011605043333,
+   1012605032222,
+   1016605021111,
+   1017605021111,
+   1022605054444,
+   1023605054444,
+   1024605054444,
+   1025605054444,
+   1029605054444,
+   1030605054444,
+   1034605021111,
+   1035605043333,
+   1039605032222,
+   1040605021111,
+   1044605021111,
+   1045605065555,
+   1046605043333,
+   1051605010000,
+   1052605032222,
+   1054605021111,
+   1055605065555,
+   1059605021111,
+   1060605032222,
+   1062605021111,
+   1063605021111,
+   1070605076666,
+   1071605054444,
+   1073605021111,
+   1074605054444,
+   1075605054444,
+   1076605021111,
+   1079605021111,
+   1080605021111,
+   1083605054444,
+   1084605043333,
+   1088605054444,
+   1089605065555,
+   1092605032222,
+   1093605054444,
+   1096605054444,
+   1097605043333,
+   1101605021111,
+   1102605032222
+  ]
+ },
+ "version": 1
+}

actions/human_human_locomanipulation/HH02/session_003/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38a15c720a97b332a0e59aaa6ea0881a11ca5755ad6d891959ce5ad29087f8ac
+size 746152

actions/human_human_locomanipulation/HH02/session_003/meta.json

@@ -360,8 +360,8 @@
   "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": {
@@ -548,12 +548,126 @@
   },
   "applied": 2
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 44.22,
+    "offset_rotvec": [
+     0.6991,
+     -0.2161,
+     0.2454
+    ],
+    "dev_deg": {
+     "median": 36.53,
+     "p90": 162.6
+    },
+    "samples": 2771,
+    "accepted": 1072,
+    "wrist_pos_err_mm_median": 57.2,
+    "per_camera": {
+     "head": {
+      "samples": 2771,
+      "accepted": 1072,
+      "gate_deg": 30.0,
+      "offset_deg": 44.22,
+      "tier": "primary",
+      "dev_deg_median": 36.53,
+      "wrist_pos_err_mm_median": 57.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 4418,
+     "interpolated": 3626,
+     "mean_hand": 7544,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.5158,
+    "observed_fraction_of_valid": 0.516,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 67.31,
+     "smplx": NaN
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": NaN,
+      "p90": NaN
+     },
+     "registered": {
+      "median": NaN,
+      "p90": NaN
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 23.44,
+    "offset_rotvec": [
+     0.3758,
+     0.1615,
+     0.01
+    ],
+    "dev_deg": {
+     "median": 21.3,
+     "p90": 42.71
+    },
+    "samples": 2642,
+    "accepted": 1918,
+    "wrist_pos_err_mm_median": 58.6,
+    "per_camera": {
+     "head": {
+      "samples": 2642,
+      "accepted": 1918,
+      "gate_deg": 30.0,
+      "offset_deg": 23.44,
+      "tier": "primary",
+      "dev_deg_median": 21.3,
+      "wrist_pos_err_mm_median": 58.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 7991,
+     "interpolated": 5868,
+     "mean_hand": 1729,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.8886,
+    "observed_fraction_of_valid": 0.8891,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 29.87,
+     "smplx": NaN
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": NaN,
+      "p90": NaN
+     },
+     "registered": {
+      "median": NaN,
+      "p90": NaN
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:40:10.828242+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_003",
   "family": "human_human_locomanipulation",
   "primitive": "HH02",
   "source_session": "20261024/HH02/20261024_083127_session4"
  },
+ "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."
+ },
  "objects": [
   {
    "name": "LittleBox1",

actions/human_human_locomanipulation/HH02/session_003/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c57ba5355f05c030eb22053058c76d4aef3d4f33661bba926891b2a296173dcd
+size 3726544

actions/human_human_locomanipulation/HH02/session_003/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6793919790614974be52ecf408b5d57ab70ac5e258085c6d28f664234a7d908f
-size 5974886
+oid sha256:0d9c0ac39e1f7dd5b95f6890446e7cc8e3d7c7787a305d0299bfb9e583f7d179
+size 9894572