Release update 2026-11-05: 5760 sessions, instructions, annotations (part 28)

.gitattributes

@@ -41227,3 +41227,13 @@ actions/dynamic_recovery/DR11/session_007/raw/sensors/robowrist_imu_left.db filt
 actions/dynamic_recovery/DR11/session_007/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/dynamic_recovery/DR11/session_007/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/dynamic_recovery/DR11/session_007/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR13/session_010/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR13/session_010/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR13/session_010/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR13/session_010/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR13/session_010/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR13/session_010/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR13/session_010/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR13/session_010/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR13/session_010/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR13/session_010/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/dynamic_recovery/DR13/session_009/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": "DR13",
+ "instruction": "Carry the box in both hands and walk back and forth across the room. The contents may move around. Carry on as best you can.",
+ "segments": [
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+   "video": "left_eye",
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+  }
+ ],
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+   "instruction": "Carry the box in both hands and walk back and forth across the room. The contents may move around. Carry on as best you can."
+  },
+  {
+   "id": "3de83e31-8597-48d1-86cb-8cee5d25df52",
+   "segment": "segment1",
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+   "t_start": 71.599,
+   "t_end": 132.895,
+   "instruction": "Carry the box in both hands and walk back and forth across the room. The contents may move around. Carry on as best you can."
+  }
+ ]
+}

actions/dynamic_recovery/DR13/session_009/cameras/gsi_online_calibration.json

@@ -0,0 +1,266 @@
+{
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+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
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actions/dynamic_recovery/DR13/session_009/cameras/slam.npz

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actions/dynamic_recovery/DR13/session_009/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": {
@@ -495,12 +495,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
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+      "tier": "primary",
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+    "hand_marker_to_mesh_mm": {
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+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T20:57:53.208688+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/DR13/session_009",
   "family": "dynamic_recovery",
   "primitive": "DR13",
   "source_session": "20261020/DR13/20261020_094459_session47"
  },
+ "task": {
+  "primitive": "DR13",
+  "instruction": "Carry the box in both hands and walk back and forth across the room. The contents may move around. Carry on as best you can."
+ },
  "objects": [
   {
    "name": "BigBox",

actions/dynamic_recovery/DR13/session_009/motions/hands_mano.npz

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actions/dynamic_recovery/DR13/session_009/motions/objects.json

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 {
  "session": "20261020/DR13/20261020_094459_session47",
- "generated_at_utc": "2026-10-28T10:21:25.874028+00:00",
+ "generated_at_utc": "2026-10-29T12:56:50.122291+00:00",
  "generated_by": "scripts/export_objects.py",
  "frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)",
  "grid": "body grid (smplx.npz t / frame_index)",

actions/dynamic_recovery/DR13/session_009/motions/smplx.npz

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actions/dynamic_recovery/DR13/session_010/cameras/poses.npz

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actions/dynamic_recovery/DR13/session_010/meta.json

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+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261027/DR13/20261027_050905_session49",
+ "session_id": "20261027_050905_session49",
+ "primitive": "DR13",
+ "batch": "20261027",
+ "participant": "xiaobo",
+ "participant_source": "manifest",
+ "device_ids": {
+  "main": "e3296774a321bb51",
+  "left": "75b5984e04d1d236",
+  "right": "c84bc808cb6b47af"
+ },
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+ "generated_by": "scripts/sync_dataset.py",
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+  "mocap_rate_fix": null,
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+  "mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
+ },
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+  "model": "offset (median of windows)",
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+  "offset_s": -0.092782,
+  "rate": 0.0,
+  "global_lag_s": -0.095,
+  "peak_corr": 0.9965,
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+  "windows": {
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+   "window_corr_median": 0.9974531959913842,
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+   "drift_ms_over_take": -5.382862880857336,
+   "lag_scatter_ms": 2.891997624026382,
+   "lag_range_ms": 14.1551984639246
+  }
+ },
+ "units": {
+  "mocap": "millimetres, Nokov world, Y-up (unchanged)",
+  "y_up_to_z_up": [
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+    1.0,
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+  ],
+  "acc": "m/s^2 (8192 LSB/g)",
+  "gyro": "rad/s (65.536 LSB/dps)",
+  "mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
+  "quaternions": "xyzw, Nokov global"
+ },
+ "calibration": {
+  "device": "e3296774a321bb51",
+  "status": "ok",
+  "date": "2026-10-21"
+ },
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+     "mean_hand": 2983,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.8274,
+    "observed_fraction_of_valid": 0.8274,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 8.05,
+     "smplx": 1.41
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.4,
+      "p90": 8.1
+     },
+     "registered": {
+      "median": 5.1,
+      "p90": 6.5
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T19:32:46.396192+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/DR14/session_001",
   "family": "dynamic_recovery",
   "primitive": "DR14",
   "source_session": "20260915/DR14/20260915_111905_session142"
+ },
+ "task": {
+  "primitive": "DR14",
+  "instruction": "Carry the tray and walk back and forth. Things may be put on it or taken off it as you go. Carry on walking."
  }
 }

actions/dynamic_recovery/DR14/session_001/motions/hands_mano.npz

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