Release update 2026-11-05: 5760 sessions, instructions, annotations (part 15)

actions/dynamic_recovery/DR07/session_007/annotations.json

@@ -0,0 +1,39 @@
+{
+ "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": "DR07",
+ "instruction": "Stand with one foot directly in front of the other, heel to toe, on the marked line. Hold your balance until you lose it, then step out. Repeat at your own pace until the operator says stop. Go slowly and only as far as you are comfortable. Step whenever you need to; do not try to hold on longer than feels safe.",
+ "segments": [
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+   "duration_s": 128.966644,
+   "video": "left_eye",
+   "video_t_start": 0.03911013831881793
+  }
+ ],
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+   "action": "DR07",
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+   "instruction": "Stand with one foot directly in front of the other, heel to toe, on the marked line. Hold your balance until you lose it, then step out. Repeat at your own pace until the operator says stop. Go slowly and only as far as you are comfortable. Step whenever you need to; do not try to hold on longer than feels safe."
+  },
+  {
+   "id": "3ea96f29-3259-480f-a6a4-89ebd4057b52",
+   "segment": "segment1",
+   "action": "DR07",
+   "quality": "valid",
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+   "end_s": 123.686,
+   "t_start": 74.6381,
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+   "instruction": "Stand with one foot directly in front of the other, heel to toe, on the marked line. Hold your balance until you lose it, then step out. Repeat at your own pace until the operator says stop. Go slowly and only as far as you are comfortable. Step whenever you need to; do not try to hold on longer than feels safe."
+  }
+ ]
+}

actions/dynamic_recovery/DR07/session_007/cameras/slam.npz

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actions/dynamic_recovery/DR07/session_007/meta.json

@@ -326,8 +326,8 @@
   "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": {
@@ -512,10 +512,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.927205309351418
  },
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+    "accepted": 3613,
+    "wrist_pos_err_mm_median": 157.3,
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+      "offset_deg": 22.33,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 157.3
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+     "mean_hand": 233,
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+     }
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+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T23:00:42.091749+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/dynamic_recovery/DR07/session_007",
   "family": "dynamic_recovery",
   "primitive": "DR07",
   "source_session": "20260918/DR07/20260918_040704_session63"
+ },
+ "task": {
+  "primitive": "DR07",
+  "instruction": "Stand with one foot directly in front of the other, heel to toe, on the marked line. Hold your balance until you lose it, then step out. Repeat at your own pace until the operator says stop. Go slowly and only as far as you are comfortable. Step whenever you need to; do not try to hold on longer than feels safe."
  }
 }

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actions/dynamic_recovery/DR07/session_008/annotations.json

@@ -0,0 +1,39 @@
+{
+ "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": "DR07",
+ "instruction": "Stand with one foot directly in front of the other, heel to toe, on the marked line. Hold your balance until you lose it, then step out. Repeat at your own pace until the operator says stop. Go slowly and only as far as you are comfortable. Step whenever you need to; do not try to hold on longer than feels safe.",
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+   "video": "left_eye",
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+  },
+  {
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+  }
+ ]
+}

actions/dynamic_recovery/DR07/session_008/cameras/gsi_online_calibration.json

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actions/dynamic_recovery/DR07/session_008/cameras/slam.npz

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actions/dynamic_recovery/DR07/session_008/meta.json

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   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
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-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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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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 }

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+  }
+ ]
+}

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actions/dynamic_recovery/DR07/session_011/cameras/gsi_online_calibration.json

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 }

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+  }
+ ]
+}

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+   "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": {
@@ -509,10 +509,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.2503649686139657
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 45.69,
+    "offset_rotvec": [
+     0.6687,
+     -0.4067,
+     -0.153
+    ],
+    "dev_deg": {
+     "median": 13.79,
+     "p90": 33.0
+    },
+    "samples": 1121,
+    "accepted": 976,
+    "wrist_pos_err_mm_median": 348.5,
+    "per_camera": {
+     "head": {
+      "samples": 1121,
+      "accepted": 976,
+      "gate_deg": 30.0,
+      "offset_deg": 45.69,
+      "tier": "primary",
+      "dev_deg_median": 13.79,
+      "wrist_pos_err_mm_median": 348.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 3996,
+     "interpolated": 2528,
+     "mean_hand": 2352,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.7344,
+    "observed_fraction_of_valid": 0.735,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 44.86,
+     "smplx": 1.52
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.8,
+      "p90": 10.0
+     },
+     "registered": {
+      "median": 7.4,
+      "p90": 11.4
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 23.8,
+    "offset_rotvec": [
+     0.4119,
+     0.0501,
+     0.0199
+    ],
+    "dev_deg": {
+     "median": 18.61,
+     "p90": 33.68
+    },
+    "samples": 800,
+    "accepted": 689,
+    "wrist_pos_err_mm_median": 431.2,
+    "per_camera": {
+     "head": {
+      "samples": 800,
+      "accepted": 689,
+      "gate_deg": 30.0,
+      "offset_deg": 23.8,
+      "tier": "primary",
+      "dev_deg_median": 18.61,
+      "wrist_pos_err_mm_median": 431.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 2858,
+     "interpolated": 2630,
+     "mean_hand": 3388,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.6177,
+    "observed_fraction_of_valid": 0.6183,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 26.51,
+     "smplx": 0.25
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.6,
+      "p90": 13.1
+     },
+     "registered": {
+      "median": 10.2,
+      "p90": 13.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:31:21.019225+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/dynamic_recovery/DR07/session_012",
   "family": "dynamic_recovery",
   "primitive": "DR07",
   "source_session": "20260928/DR07/20260928_104227_session78"
+ },
+ "task": {
+  "primitive": "DR07",
+  "instruction": "Stand with one foot directly in front of the other, heel to toe, on the marked line. Hold your balance until you lose it, then step out. Repeat at your own pace until the operator says stop. Go slowly and only as far as you are comfortable. Step whenever you need to; do not try to hold on longer than feels safe."
  }
 }

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