Release update 2026-11-05: 5760 sessions, instructions, annotations (part 52)

actions/environment_coupled_wholebody/EC05/session_016/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": "EC05",
+ "instruction": "Push the cart through the gap between the poles without touching them, then bring it back through.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 142.899889,
+   "video": "left_eye",
+   "video_t_start": 0.0399161285623906
+  }
+ ],
+ "episodes": [
+  {
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+   "segment": "segment1",
+   "action": "EC05",
+   "quality": "valid",
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+   "end_s": 138.17,
+   "t_start": 4.4769,
+   "t_end": 138.2099,
+   "instruction": "Push the cart through the gap between the poles without touching them, then bring it back through."
+  }
+ ]
+}

actions/environment_coupled_wholebody/EC05/session_016/cameras/gsi_online_calibration.json

@@ -0,0 +1,256 @@
+{
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+ },
+ "cameras": {
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+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "fb5e260d4c46d7a90f08a703d942ea74a2d779169386b6081c7ed8415cbbd880",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "86f4fb8106d54c9d99c14a8e8053ce407194c53997b627bf57c3c500179a07f7",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "f4db2f6dbcb6c357c8f4cd6936e455193d6b483992522251cc008726e0288d54",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
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+  }
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+ "kind": "online_calibration",
+ "output_sha256": "fca23662dacf81fbe2c0b56e4035ba35e5dc4bc7bf2f87d30336849942db182b",
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+ },
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+  "left_front": 43.853,
+  "right": 44.758,
+  "right_eye": 44.43,
+  "right_front": 41.863
+ },
+ "runtime": {
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actions/environment_coupled_wholebody/EC05/session_016/meta.json

@@ -456,6 +456,10 @@
   "primitive": "EC05",
   "source_session": "20261020/EC05/20261020_054913_session10"
  },
+ "task": {
+  "primitive": "EC05",
+  "instruction": "Push the cart through the gap between the poles without touching them, then bring it back through."
+ },
  "objects": [
   {
    "name": "BigBox",
@@ -463,35 +467,17 @@
    "source": "mocap",
    "pose_frame": "mesh"
   },
-  {
-   "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"
-  },
   {
    "name": "CcYellow",
    "object_type": "CcYellow",
    "source": "mocap",
    "pose_frame": "rigid_body"
-  },
-  {
-   "name": "Cushion",
-   "object_type": "Cushion",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
   }
  ]
 }

actions/environment_coupled_wholebody/EC05/session_017/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": "EC05",
+ "instruction": "Push the cart through the gap between the poles without touching them, then bring it back through.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 147.133222,
+   "video": "left_eye",
+   "video_t_start": 0.03990779023268376
+  }
+ ],
+ "episodes": [
+  {
+   "id": "505b6896-ed7d-4734-a72d-15f75a7bf344",
+   "segment": "segment1",
+   "action": "EC05",
+   "quality": "valid",
+   "start_s": 3.709,
+   "end_s": 142.779,
+   "t_start": 3.7489,
+   "t_end": 142.8189,
+   "instruction": "Push the cart through the gap between the poles without touching them, then bring it back through."
+  }
+ ]
+}

actions/environment_coupled_wholebody/EC05/session_017/cameras/gsi_online_calibration.json

@@ -0,0 +1,259 @@
+{
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+ },
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+  },
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+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
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+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "5c708a0873f35980998d0ef654ca338aaba7c0ca80fdaf60cca8be681efe21ce",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "365afe3395645bd3d79ad1755c4e096a19cb155aa1e8d6327828bcc3b75cb3f2",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
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+  }
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actions/environment_coupled_wholebody/EC05/session_017/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:156d86dd0b16f8d1d125ff02ab39d7a3e02264df44c20010b2b33a63a0882180
+size 847032

actions/environment_coupled_wholebody/EC05/session_017/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": {
@@ -529,12 +529,126 @@
   },
   "applied": 1
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
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+    ],
+    "dev_deg": {
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+     "p90": 24.58
+    },
+    "samples": 4309,
+    "accepted": 4171,
+    "wrist_pos_err_mm_median": 30.6,
+    "per_camera": {
+     "head": {
+      "samples": 4309,
+      "accepted": 4171,
+      "gate_deg": 30.0,
+      "offset_deg": 5.26,
+      "tier": "primary",
+      "dev_deg_median": 9.95,
+      "wrist_pos_err_mm_median": 30.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 16733,
+     "interpolated": 794,
+     "mean_hand": 129,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9922,
+    "observed_fraction_of_valid": 0.9927,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 9.3,
+     "smplx": 1.91
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.8,
+      "p90": 12.0
+     },
+     "registered": {
+      "median": 10.7,
+      "p90": 13.4
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 17.72,
+    "offset_rotvec": [
+     -0.0675,
+     -0.2683,
+     0.1382
+    ],
+    "dev_deg": {
+     "median": 14.05,
+     "p90": 49.94
+    },
+    "samples": 4027,
+    "accepted": 3305,
+    "wrist_pos_err_mm_median": 33.9,
+    "per_camera": {
+     "head": {
+      "samples": 4027,
+      "accepted": 3305,
+      "gate_deg": 30.0,
+      "offset_deg": 17.72,
+      "tier": "primary",
+      "dev_deg_median": 14.05,
+      "wrist_pos_err_mm_median": 33.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13259,
+     "interpolated": 1180,
+     "mean_hand": 3217,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.8174,
+    "observed_fraction_of_valid": 0.8178,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 21.84,
+     "smplx": 2.16
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.3,
+      "p90": 14.1
+     },
+     "registered": {
+      "median": 8.2,
+      "p90": 13.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:32:56.215281+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/EC05/session_017",
   "family": "environment_coupled_wholebody",
   "primitive": "EC05",
   "source_session": "20261020/EC05/20261020_055152_session11"
  },
+ "task": {
+  "primitive": "EC05",
+  "instruction": "Push the cart through the gap between the poles without touching them, then bring it back through."
+ },
  "objects": [
   {
    "name": "BigBox",
@@ -542,12 +656,6 @@
    "source": "mocap",
    "pose_frame": "rigid_body"
   },
-  {
-   "name": "CcGreen",
-   "object_type": "CcGreen",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
-  },
   {
    "name": "CcOrange",
    "object_type": "CcOrange",
@@ -565,12 +673,6 @@
    "object_type": "CcYellow",
    "source": "mocap",
    "pose_frame": "rigid_body"
-  },
-  {
-   "name": "Cushion",
-   "object_type": "Cushion",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
   }
  ]
 }

actions/environment_coupled_wholebody/EC05/session_017/motions/hands_mano.npz

@@ -0,0 +1,3 @@
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+size 5645488

actions/environment_coupled_wholebody/EC05/session_017/motions/smplx.npz

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