Release update 2026-11-05: 5760 sessions, instructions, annotations (part 3)

actions/dynamic_recovery/DR01/session_013/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": "DR01",
+ "instruction": "Stand on the marked spots with your feet together. Lean forward from the ankles, keeping your body straight, until you cannot hold it any longer, then step forward to catch yourself. Return to the spots. 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": [
+  {
+   "id": "segment1",
+   "duration_s": 143.100022,
+   "video": "left_eye",
+   "video_t_start": 0.03942856826743829
+  }
+ ],
+ "episodes": [
+  {
+   "id": "0513be99-4a9f-46e3-ae36-d37de9e08d54",
+   "segment": "segment1",
+   "action": "DR01",
+   "quality": "valid",
+   "start_s": 4.303,
+   "end_s": 88.08,
+   "t_start": 4.3424,
+   "t_end": 88.1194,
+   "instruction": "Stand on the marked spots with your feet together. Lean forward from the ankles, keeping your body straight, until you cannot hold it any longer, then step forward to catch yourself. Return to the spots. 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": "75971660-eff0-40a1-b693-aed423e33ad7",
+   "segment": "segment1",
+   "action": "DR01",
+   "quality": "valid",
+   "start_s": 94.08,
+   "end_s": 137.377,
+   "t_start": 94.1194,
+   "t_end": 137.4164,
+   "instruction": "Stand on the marked spots with your feet together. Lean forward from the ankles, keeping your body straight, until you cannot hold it any longer, then step forward to catch yourself. Return to the spots. 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/DR01/session_013/meta.json

@@ -525,5 +525,9 @@
   "family": "dynamic_recovery",
   "primitive": "DR01",
   "source_session": "20261016/DR01/20261016_040226_session73"
+ },
+ "task": {
+  "primitive": "DR01",
+  "instruction": "Stand on the marked spots with your feet together. Lean forward from the ankles, keeping your body straight, until you cannot hold it any longer, then step forward to catch yourself. Return to the spots. 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/DR02/session_001/annotations.json

@@ -0,0 +1,226 @@
+{
+ "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": "DR02",
+ "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. 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": [
+  {
+   "id": "segment1",
+   "duration_s": 128.966689,
+   "video": "left_eye",
+   "video_t_start": 0.03892750005303158
+  }
+ ],
+ "episodes": [
+  {
+   "id": "98268963-e6f0-4e39-a18c-00a0b56c380d",
+   "segment": "segment1",
+   "action": "DR02",
+   "quality": "valid",
+   "start_s": 2.437,
+   "end_s": 7.529,
+   "t_start": 2.4759,
+   "t_end": 7.5679,
+   "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. 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": "9ee9fe23-380e-4de6-87d3-04e8f7510588",
+   "segment": "segment1",
+   "action": "DR02",
+   "quality": "valid",
+   "start_s": 8,
+   "end_s": 12.912,
+   "t_start": 8.0389,
+   "t_end": 12.9509,
+   "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. 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": "98fd422d-670d-43c8-872c-f196c0927395",
+   "segment": "segment1",
+   "action": "DR02",
+   "quality": "valid",
+   "start_s": 14.479,
+   "end_s": 19.455,
+   "t_start": 14.5179,
+   "t_end": 19.4939,
+   "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. 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": "bc8137b3-eaec-4f8a-aaed-9c0db5c030f8",
+   "segment": "segment1",
+   "action": "DR02",
+   "quality": "valid",
+   "start_s": 20.937,
+   "end_s": 26.657,
+   "t_start": 20.9759,
+   "t_end": 26.6959,
+   "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. 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": "ac10896e-ddb7-40cd-9905-daa6ee139a8e",
+   "segment": "segment1",
+   "action": "DR02",
+   "quality": "valid",
+   "start_s": 27.965,
+   "end_s": 34.284,
+   "t_start": 28.0039,
+   "t_end": 34.3229,
+   "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. 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": "54135358-af09-4cdd-b0d9-69c86f386c3c",
+   "segment": "segment1",
+   "action": "DR02",
+   "quality": "valid",
+   "start_s": 34.651,
+   "end_s": 39.986,
+   "t_start": 34.6899,
+   "t_end": 40.0249,
+   "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. 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": "55cca162-2599-4a7f-ba3f-db2c54c8c15a",
+   "segment": "segment1",
+   "action": "DR02",
+   "quality": "valid",
+   "start_s": 40.778,
+   "end_s": 46.872,
+   "t_start": 40.8169,
+   "t_end": 46.9109,
+   "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. 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": "97fcf1ad-7321-426f-a933-bb922c66710b",
+   "segment": "segment1",
+   "action": "DR02",
+   "quality": "valid",
+   "start_s": 46.975,
+   "end_s": 53.248,
+   "t_start": 47.0139,
+   "t_end": 53.2869,
+   "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. 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": "70d1e151-485d-4824-8f16-863129472695",
+   "segment": "segment1",
+   "action": "DR02",
+   "quality": "valid",
+   "start_s": 53.96,
+   "end_s": 59.032,
+   "t_start": 53.9989,
+   "t_end": 59.0709,
+   "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. 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": "35e24b89-4a84-4884-9042-e79b8cc2ab2d",
+   "segment": "segment1",
+   "action": "DR02",
+   "quality": "valid",
+   "start_s": 59.751,
+   "end_s": 65.533,
+   "t_start": 59.7899,
+   "t_end": 65.5719,
+   "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. 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": "c750cca5-4ad0-44bd-87e7-14546154d4fe",
+   "segment": "segment1",
+   "action": "DR02",
+   "quality": "valid",
+   "start_s": 65.779,
+   "end_s": 71.46,
+   "t_start": 65.8179,
+   "t_end": 71.4989,
+   "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. 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": "49ea0c9e-fdc7-434f-947b-8e5c90d7bd5f",
+   "segment": "segment1",
+   "action": "DR02",
+   "quality": "valid",
+   "start_s": 72.288,
+   "end_s": 77.375,
+   "t_start": 72.3269,
+   "t_end": 77.4139,
+   "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. 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": "aded3109-ca7b-40e3-8b2c-3cab6919c9cf",
+   "segment": "segment1",
+   "action": "DR02",
+   "quality": "valid",
+   "start_s": 78.102,
+   "end_s": 83.877,
+   "t_start": 78.1409,
+   "t_end": 83.9159,
+   "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. 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": "8d08a2ac-a2b2-4aa0-b887-eba64a6a52d6",
+   "segment": "segment1",
+   "action": "DR02",
+   "quality": "valid",
+   "start_s": 84.78,
+   "end_s": 90.875,
+   "t_start": 84.8189,
+   "t_end": 90.9139,
+   "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. 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": "035c1804-feda-4375-b837-1dae785f96ea",
+   "segment": "segment1",
+   "action": "DR02",
+   "quality": "valid",
+   "start_s": 91.33,
+   "end_s": 96.809,
+   "t_start": 91.3689,
+   "t_end": 96.8479,
+   "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. 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": "3f8ab964-a53b-4527-b5c0-0030c0ebe031",
+   "segment": "segment1",
+   "action": "DR02",
+   "quality": "valid",
+   "start_s": 98.698,
+   "end_s": 105.222,
+   "t_start": 98.7369,
+   "t_end": 105.2609,
+   "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. 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": "78a6e32a-4f03-461e-921d-79adfdb6c33a",
+   "segment": "segment1",
+   "action": "DR02",
+   "quality": "valid",
+   "start_s": 105.644,
+   "end_s": 110.987,
+   "t_start": 105.6829,
+   "t_end": 111.0259,
+   "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. 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": "fb35ca09-3a63-4377-b897-89cf907aa4ef",
+   "segment": "segment1",
+   "action": "DR02",
+   "quality": "valid",
+   "start_s": 111.402,
+   "end_s": 117.458,
+   "t_start": 111.4409,
+   "t_end": 117.4969,
+   "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. 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": "4496b9a2-6541-4c43-a543-a0ed26d4e41d",
+   "segment": "segment1",
+   "action": "DR02",
+   "quality": "valid",
+   "start_s": 117.61,
+   "end_s": 123.514,
+   "t_start": 117.6489,
+   "t_end": 123.5529,
+   "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. 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/DR02/session_001/cameras/gsi_online_calibration.json

@@ -0,0 +1,258 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.361
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 0.8296,
+   "gate_fail": [],
+   "held_out_px_after": 0.499,
+   "held_out_px_before": 4.623,
+   "inliers": 4502,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.6423,
+    -0.3041,
+    -0.4279
+   ],
+   "split_deg": 0.0471,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.4114,
+   "gate_fail": [],
+   "held_out_px_after": 0.4,
+   "held_out_px_before": 4.943,
+   "inliers": 8589,
+   "position_fitted": true,
+   "position_mm": [
+    5.97,
+    -9.02,
+    13.46
+   ],
+   "position_sigma_mm": 0.323,
+   "position_split_mm": 3.16,
+   "rotvec_deg": [
+    0.1965,
+    0.451,
+    -1.3228
+   ],
+   "split_deg": 0.1033,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 1.5024,
+   "gate_fail": [],
+   "held_out_px_after": 0.595,
+   "held_out_px_before": 3.902,
+   "inliers": 1300,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.2676,
+    -0.439,
+    0.6765
+   ],
+   "split_deg": 0.1168,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.6287,
+   "gate_fail": [],
+   "held_out_px_after": 0.371,
+   "held_out_px_before": 2.034,
+   "inliers": 7998,
+   "position_fitted": true,
+   "position_mm": [
+    4.95,
+    -12.36,
+    13.99
+   ],
+   "position_sigma_mm": 0.314,
+   "position_split_mm": 2.53,
+   "rotvec_deg": [
+    0.2994,
+    -0.542,
+    -0.1084
+   ],
+   "split_deg": 0.096,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0491,
+   "gate_fail": [],
+   "held_out_px_after": 0.37,
+   "held_out_px_before": 2.926,
+   "inliers": 7156,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.181,
+    -0.1639,
+    -1.0202
+   ],
+   "split_deg": 0.0231,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "5552d0609b5e22722c8496fc7fd3ad355840788f1711fb3156107d0fecad3d15",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "a35f5fb88893ccca4ad552b87dccbf5ad5ebbca9396caefb12e314de7956734c",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "a475885857bcb2a404984055990a4576cc2499641c843ded309084a3006891cb",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "ae7cc66d0b0f5de917c261ad4c070bbd360b58cc060008c71c78e2b4da8bfaf0",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "e5a1c2930161e242",
+ "kind": "online_calibration",
+ "output_sha256": "fa3816d41ee3975f61f95b4b3d19fc3fd8b653177c0655533cd9256d9d1f7b58",
+ "overlap": {
+  "left-right": 0.501,
+  "left_eye-left": 0.707,
+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 41.742,
+  "left_eye": 45.388,
+  "left_front": 47.65,
+  "right": 32.156,
+  "right_eye": 43.112,
+  "right_front": 45.221
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   8303026558000,
+   8304026558000,
+   8307026558000,
+   8308026569111,
+   8310026569111,
+   8311026535777,
+   8315026535777,
+   8316026569111,
+   8317026546888,
+   8318026535777,
+   8322026535777,
+   8323026546888,
+   8327026569111,
+   8328026569111,
+   8329026580222,
+   8336026569111,
+   8337026535777,
+   8338026569111,
+   8343026569111,
+   8344026580222,
+   8345026535777,
+   8346026546888,
+   8349026569111,
+   8350026569111,
+   8355026535777,
+   8356026569111,
+   8361026546888,
+   8362026535777,
+   8363026580222,
+   8368026569111,
+   8369026546888,
+   8371026535777,
+   8372026535777,
+   8374026558000,
+   8375026558000,
+   8380026535777,
+   8381026535777,
+   8383026569111,
+   8384026558000,
+   8387026624666,
+   8388026569111,
+   8394026546888,
+   8395026558000,
+   8398026558000,
+   8399026558000,
+   8401026613555,
+   8402026535777,
+   8405026558000,
+   8406026558000,
+   8408026535777,
+   8409026535777,
+   8413026558000,
+   8414026546888,
+   8415026535777,
+   8416026569111,
+   8422026569111,
+   8423026535777
+  ]
+ },
+ "version": 1
+}

actions/dynamic_recovery/DR02/session_001/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c2ac4529295d56de89d19e0ed8b9b2fb322706f092261f465b2466e261a1166
+size 735919

actions/dynamic_recovery/DR02/session_001/meta.json

@@ -331,8 +331,8 @@
   "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 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.4455904263406427
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 24.68,
+    "offset_rotvec": [
+     0.0024,
+     -0.3905,
+     -0.182
+    ],
+    "dev_deg": {
+     "median": 16.16,
+     "p90": 30.29
+    },
+    "samples": 3010,
+    "accepted": 2696,
+    "wrist_pos_err_mm_median": 50.4,
+    "per_camera": {
+     "head": {
+      "samples": 3010,
+      "accepted": 2696,
+      "gate_deg": 30.0,
+      "offset_deg": 24.68,
+      "tier": "primary",
+      "dev_deg_median": 16.16,
+      "wrist_pos_err_mm_median": 50.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10970,
+     "interpolated": 2894,
+     "mean_hand": 1620,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.8954,
+    "observed_fraction_of_valid": 0.8954,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 23.46,
+     "smplx": 1.07
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.0,
+      "p90": 7.0
+     },
+     "registered": {
+      "median": 4.6,
+      "p90": 5.8
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 7.5,
+    "offset_rotvec": [
+     0.0493,
+     0.121,
+     -0.0068
+    ],
+    "dev_deg": {
+     "median": 12.52,
+     "p90": 39.13
+    },
+    "samples": 2983,
+    "accepted": 2448,
+    "wrist_pos_err_mm_median": 57.0,
+    "per_camera": {
+     "head": {
+      "samples": 2983,
+      "accepted": 2448,
+      "gate_deg": 30.0,
+      "offset_deg": 7.5,
+      "tier": "primary",
+      "dev_deg_median": 12.52,
+      "wrist_pos_err_mm_median": 57.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9974,
+     "interpolated": 3662,
+     "mean_hand": 1848,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.8807,
+    "observed_fraction_of_valid": 0.8807,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 9.63,
+     "smplx": 0.59
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.8,
+      "p90": 7.8
+     },
+     "registered": {
+      "median": 7.3,
+      "p90": 8.2
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T14:50:26.819946+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/DR02/session_001",
   "family": "dynamic_recovery",
   "primitive": "DR02",
   "source_session": "20260908/DR02/20260908_025253_session39"
+ },
+ "task": {
+  "primitive": "DR02",
+  "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. 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/DR02/session_001/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb19e175403a3cc40c27e6ab4d6bfa2250db59be5ad49d8517a8a30094f72609
+size 4130507

actions/dynamic_recovery/DR02/session_001/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:bcbab7685d6daeeec8c6520fbdabd8a9c0285aedb47ef2b2dbb16b85254b8565
-size 5963711
+oid sha256:6e7a97af63385308c5cadec1d8c8cc767b18874e86197512cc2c622dffc90baf
+size 10742321

actions/dynamic_recovery/DR02/session_002/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": "DR02",
+ "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. 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": [
+  {
+   "id": "segment1",
+   "duration_s": 128.966656,
+   "video": "left_eye",
+   "video_t_start": 0.03907368384326215
+  }
+ ],
+ "episodes": [
+  {
+   "id": "9d0c908f-c38f-4ad9-9eb9-2ca6076486f1",
+   "segment": "segment1",
+   "action": "DR02",
+   "quality": "valid",
+   "start_s": 1.801,
+   "end_s": 60.607,
+   "t_start": 1.8401,
+   "t_end": 60.6461,
+   "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. 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": "2b7fb505-b378-4afc-9c7f-07cb949c525e",
+   "segment": "segment1",
+   "action": "DR02",
+   "quality": "valid",
+   "start_s": 63.413,
+   "end_s": 124.638,
+   "t_start": 63.4521,
+   "t_end": 124.6771,
+   "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. 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/DR02/session_002/cameras/gsi_online_calibration.json

@@ -0,0 +1,252 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.334
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.8152,
+   "gate_fail": [],
+   "held_out_px_after": 0.424,
+   "held_out_px_before": 3.127,
+   "inliers": 2893,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.6484,
+    -0.3311,
+    -0.3667
+   ],
+   "split_deg": 0.0338,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.7678,
+   "gate_fail": [],
+   "held_out_px_after": 0.356,
+   "held_out_px_before": 6.941,
+   "inliers": 4201,
+   "position_fitted": true,
+   "position_mm": [
+    4.53,
+    -17.87,
+    5.32
+   ],
+   "position_sigma_mm": 0.352,
+   "position_split_mm": 3.268,
+   "rotvec_deg": [
+    0.4037,
+    0.5465,
+    -1.632
+   ],
+   "split_deg": 0.0322,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 2.2269,
+   "gate_fail": [],
+   "held_out_px_after": 0.646,
+   "held_out_px_before": 4.854,
+   "inliers": 648,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.7266,
+    -1.3289,
+    0.4604
+   ],
+   "split_deg": 0.0767,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.8928,
+   "gate_fail": [],
+   "held_out_px_after": 0.335,
+   "held_out_px_before": 2.641,
+   "inliers": 4445,
+   "position_fitted": true,
+   "position_mm": [
+    2.46,
+    -15.46,
+    8.58
+   ],
+   "position_sigma_mm": 0.299,
+   "position_split_mm": 3.689,
+   "rotvec_deg": [
+    0.6224,
+    -0.5759,
+    -0.2795
+   ],
+   "split_deg": 0.0398,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0352,
+   "gate_fail": [],
+   "held_out_px_after": 0.291,
+   "held_out_px_before": 3.674,
+   "inliers": 5364,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2117,
+    -0.1174,
+    -1.0065
+   ],
+   "split_deg": 0.0057,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "f5c5401e62710d4bb29ac6d6f3d284d91ccc6e59cd96bf7db98bcf720a52a338",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "ca81004c72d6847d1fa9f141be971bb10a546c6dbfd5e81bc61bb7ab5e169c14",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "9a6255d27cd9d42a93d3f23ba6c620f8915c5dbd0f0c4b61ed4f8220a85b67f9",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "304c8fa45a7d1e7d17e4577e21d8a80a3d2ee38af4d687bafcdcebe32ec6cb1b",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "1daec6e5ab8aac7c",
+ "kind": "online_calibration",
+ "output_sha256": "166a9b72b380ebf61d2ca6c2a16e4bbfbb7061f9be173e0b0af229586d25910f",
+ "overlap": {
+  "left-right": 0.501,
+  "left_eye-left": 0.707,
+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 24.312,
+  "left_eye": 24.833,
+  "left_front": 33.971,
+  "right": 17.253,
+  "right_eye": 24.779,
+  "right_front": 29.979
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   21417569759222,
+   21418569748111,
+   21425569803666,
+   21426569770333,
+   21427569748111,
+   21431569748111,
+   21432569748111,
+   21437569792555,
+   21438569759222,
+   21439569770333,
+   21444569748111,
+   21445569948111,
+   21449569759222,
+   21450569803666,
+   21451569803666,
+   21458569748111,
+   21459569748111,
+   21460569748111,
+   21464569970333,
+   21465569748111,
+   21470569748111,
+   21471569748111,
+   21472569737000,
+   21477569748111,
+   21478569737000,
+   21479569792555,
+   21480569770333,
+   21484569792555,
+   21485569959222,
+   21490569848111,
+   21491569759222,
+   21492569737000,
+   21496569748111,
+   21497569737000,
+   21501569737000,
+   21502569737000,
+   21506569748111,
+   21507569803666,
+   21508569970333,
+   21509569748111,
+   21513569770333,
+   21514569748111,
+   21518569748111,
+   21519569848111,
+   21523569770333,
+   21524569748111,
+   21525569792555,
+   21530569759222,
+   21531569792555,
+   21533569759222,
+   21534569737000,
+   21536569748111,
+   21537569748111
+  ]
+ },
+ "version": 1
+}

actions/dynamic_recovery/DR02/session_002/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8222f79a5cecb6221891eae8d7d0d8b6a1ba9a36887811e54e57863574cde24d
+size 742309

actions/dynamic_recovery/DR02/session_002/meta.json

@@ -329,8 +329,8 @@
   "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": 0.691558525573711
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 23.69,
+    "offset_rotvec": [
+     0.2231,
+     -0.3398,
+     0.0759
+    ],
+    "dev_deg": {
+     "median": 20.93,
+     "p90": 38.51
+    },
+    "samples": 2669,
+    "accepted": 1984,
+    "wrist_pos_err_mm_median": 53.6,
+    "per_camera": {
+     "head": {
+      "samples": 2669,
+      "accepted": 1984,
+      "gate_deg": 30.0,
+      "offset_deg": 23.69,
+      "tier": "primary",
+      "dev_deg_median": 20.93,
+      "wrist_pos_err_mm_median": 53.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 8280,
+     "interpolated": 6440,
+     "mean_hand": 761,
+     "no_body_fit": 3
+    },
+    "observed_fraction": 0.9507,
+    "observed_fraction_of_valid": 0.9508,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 32.38,
+     "smplx": 1.09
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.5,
+      "p90": 7.5
+     },
+     "registered": {
+      "median": 3.8,
+      "p90": 7.1
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 16.72,
+    "offset_rotvec": [
+     -0.1093,
+     0.2042,
+     0.1775
+    ],
+    "dev_deg": {
+     "median": 10.66,
+     "p90": 29.35
+    },
+    "samples": 3165,
+    "accepted": 2860,
+    "wrist_pos_err_mm_median": 43.6,
+    "per_camera": {
+     "head": {
+      "samples": 3165,
+      "accepted": 2860,
+      "gate_deg": 30.0,
+      "offset_deg": 16.72,
+      "tier": "primary",
+      "dev_deg_median": 10.66,
+      "wrist_pos_err_mm_median": 43.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11634,
+     "interpolated": 3426,
+     "mean_hand": 421,
+     "no_body_fit": 3
+    },
+    "observed_fraction": 0.9726,
+    "observed_fraction_of_valid": 0.9728,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.8,
+     "smplx": 0.47
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.6,
+      "p90": 8.2
+     },
+     "registered": {
+      "median": 6.2,
+      "p90": 7.5
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T14:50:27.531694+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/DR02/session_002",
   "family": "dynamic_recovery",
   "primitive": "DR02",
   "source_session": "20260908/DR02/20260908_101305_session114"
+ },
+ "task": {
+  "primitive": "DR02",
+  "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. 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/DR02/session_002/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58dc0ea52d64044fd46359a39f51ddbf3a550a8dc857913e44694f92242c28af
+size 4030690

actions/dynamic_recovery/DR02/session_002/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:87937af33fdb0db474fb8f12a0099d177ba9a1426ea639c5db26231ea47f4354
-size 5978837
+oid sha256:d7bf725a72159559ae8a850fb91e14f4d4e63b67e2edb82415b208cb0eaa74f6
+size 11060384

actions/dynamic_recovery/DR02/session_003/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": "DR02",
+ "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. 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": [
+  {
+   "id": "segment1",
+   "duration_s": 63.966644,
+   "video": "left_eye",
+   "video_t_start": 0.039049726153732145
+  }
+ ],
+ "episodes": [
+  {
+   "id": "258769d9-08ed-4b79-91c5-77cc02c00eab",
+   "segment": "segment1",
+   "action": "DR02",
+   "quality": "valid",
+   "start_s": 2.056,
+   "end_s": 30.961,
+   "t_start": 2.095,
+   "t_end": 31.0,
+   "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. 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": "3a4e74d0-bc96-482f-84aa-968dcce9dbe8",
+   "segment": "segment1",
+   "action": "DR02",
+   "quality": "valid",
+   "start_s": 30.961,
+   "end_s": 63.135,
+   "t_start": 31.0,
+   "t_end": 63.174,
+   "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. 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/DR02/session_003/cameras/gsi_online_calibration.json

@@ -0,0 +1,252 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.357
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.044,
+   "gate_fail": [],
+   "held_out_px_after": 0.488,
+   "held_out_px_before": 4.067,
+   "inliers": 2854,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.6993,
+    -0.3707,
+    -0.6808
+   ],
+   "split_deg": 0.0194,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.689,
+   "gate_fail": [],
+   "held_out_px_after": 0.377,
+   "held_out_px_before": 6.169,
+   "inliers": 4061,
+   "position_fitted": true,
+   "position_mm": [
+    6.05,
+    -11.92,
+    9.75
+   ],
+   "position_sigma_mm": 0.396,
+   "position_split_mm": 0.985,
+   "rotvec_deg": [
+    0.3525,
+    0.5581,
+    -1.5547
+   ],
+   "split_deg": 0.0282,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.8534,
+   "gate_fail": [],
+   "held_out_px_after": 0.565,
+   "held_out_px_before": 6.675,
+   "inliers": 784,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.4807,
+    -0.7625,
+    0.8131
+   ],
+   "split_deg": 0.0558,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.7791,
+   "gate_fail": [],
+   "held_out_px_after": 0.369,
+   "held_out_px_before": 3.383,
+   "inliers": 4276,
+   "position_fitted": true,
+   "position_mm": [
+    7.5,
+    -11.46,
+    8.3
+   ],
+   "position_sigma_mm": 0.488,
+   "position_split_mm": 4.344,
+   "rotvec_deg": [
+    0.5385,
+    -0.5356,
+    -0.1732
+   ],
+   "split_deg": 0.0546,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0295,
+   "gate_fail": [],
+   "held_out_px_after": 0.298,
+   "held_out_px_before": 3.78,
+   "inliers": 5159,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2841,
+    -0.0564,
+    -0.9879
+   ],
+   "split_deg": 0.0069,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "cf70db48a5e37dceb7461ac14079ba2e7a74e3279b6ad26fe4401277e6c1a9fc",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "39a84cac4339496ebc8d936c8d4f018097d871de291b80c192d1f82ee5dae1d9",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "44ba44c2ba2f5cdd14631391b4d6376c244904da94174732aaaadcf31eae4a7c",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "073ac0fbfcf93c07dfbe3bd1b086f7f11da115d3eff152e2c9481acc4329af20",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "1c4f68ca27815bb1",
+ "kind": "online_calibration",
+ "output_sha256": "b533ded4edd46242c5ffd2494210767cfdf805f90e02847324ecdf29f2a3fa21",
+ "overlap": {
+  "left-right": 0.501,
+  "left_eye-left": 0.707,
+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 30.765,
+  "left_eye": 30.545,
+  "left_front": 35.028,
+  "right": 23.978,
+  "right_eye": 28.964,
+  "right_front": 32.805
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   21961754551111,
+   21962754584444,
+   21964754640000,
+   21965754540000,
+   21966754562222,
+   21967754584444,
+   21969754662222,
+   21970754551111,
+   21971754551111,
+   21972754562222,
+   21973754551111,
+   21975754528888,
+   21976754617777,
+   21977754640000,
+   21978754617777,
+   21979754584444,
+   21981754562222,
+   21982754540000,
+   21983754562222,
+   21984754584444,
+   21985754606666,
+   21987754540000,
+   21988754595555,
+   21989754584444,
+   21990754595555,
+   21991754595555,
+   21993754551111,
+   21994754562222,
+   21995754595555,
+   21996754551111,
+   21997754562222,
+   21999754540000,
+   22000754540000,
+   22001754617777,
+   22002754595555,
+   22003754540000,
+   22004754584444,
+   22005754617777,
+   22006754617777,
+   22007754540000,
+   22008754595555,
+   22009754595555,
+   22010754595555,
+   22011754551111,
+   22012754562222,
+   22013754584444,
+   22015754551111,
+   22016754595555,
+   22017754562222,
+   22018754540000,
+   22019754584444,
+   22020754595555,
+   22021754717777
+  ]
+ },
+ "version": 1
+}

actions/dynamic_recovery/DR02/session_003/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3680f3373f70fe730a23339ca317677860483581ff1bc9efce6b38a797a1a55
+size 370771

actions/dynamic_recovery/DR02/session_003/meta.json

@@ -327,8 +327,8 @@
   "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": 1.0781477153007113
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 14.69,
+    "offset_rotvec": [
+     0.0728,
+     -0.2124,
+     -0.1238
+    ],
+    "dev_deg": {
+     "median": 14.71,
+     "p90": 32.01
+    },
+    "samples": 1682,
+    "accepted": 1485,
+    "wrist_pos_err_mm_median": 48.7,
+    "per_camera": {
+     "head": {
+      "samples": 1682,
+      "accepted": 1485,
+      "gate_deg": 30.0,
+      "offset_deg": 14.69,
+      "tier": "primary",
+      "dev_deg_median": 14.71,
+      "wrist_pos_err_mm_median": 48.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 6043,
+     "interpolated": 1368,
+     "mean_hand": 265,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9645,
+    "observed_fraction_of_valid": 0.9655,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.99,
+     "smplx": 0.55
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.2,
+      "p90": 8.3
+     },
+     "registered": {
+      "median": 4.1,
+      "p90": 5.9
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 11.71,
+    "offset_rotvec": [
+     -0.0125,
+     0.1866,
+     0.0826
+    ],
+    "dev_deg": {
+     "median": 9.65,
+     "p90": 25.37
+    },
+    "samples": 1738,
+    "accepted": 1614,
+    "wrist_pos_err_mm_median": 42.5,
+    "per_camera": {
+     "head": {
+      "samples": 1738,
+      "accepted": 1614,
+      "gate_deg": 30.0,
+      "offset_deg": 11.71,
+      "tier": "primary",
+      "dev_deg_median": 9.65,
+      "wrist_pos_err_mm_median": 42.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 6529,
+     "interpolated": 1070,
+     "mean_hand": 77,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9889,
+    "observed_fraction_of_valid": 0.99,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 10.51,
+     "smplx": 0.53
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 14.1,
+      "p90": 15.0
+     },
+     "registered": {
+      "median": 13.0,
+      "p90": 13.6
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T15:29:13.827613+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/DR02/session_003",
   "family": "dynamic_recovery",
   "primitive": "DR02",
   "source_session": "20260909/DR02/20260909_062828_session101"
+ },
+ "task": {
+  "primitive": "DR02",
+  "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. 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/DR02/session_003/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07dde690bfcff2de5092b329079a5a5b91862ddfd6c3c653fb30a0c52b031e62
+size 2342774

actions/dynamic_recovery/DR02/session_003/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:dd8f05ae516e3bcdd0eda0756177e5260879da78343e67995ef3b39f42f0644a
-size 2955679
+oid sha256:191cec43ec89ea2bf181e35c3dbd1df6090b702a7f404d94d90b924c3b39efa4
+size 5499272

actions/dynamic_recovery/DR02/session_004/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": "DR02",
+ "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. 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": [
+  {
+   "id": "segment1",
+   "duration_s": 133.966656,
+   "video": "left_eye",
+   "video_t_start": 0.039017167152076704
+  }
+ ],
+ "episodes": [
+  {
+   "id": "5cd60580-a5c0-419e-bec3-a6ee066f5a1b",
+   "segment": "segment1",
+   "action": "DR02",
+   "quality": "valid",
+   "start_s": 1.909,
+   "end_s": 65.179,
+   "t_start": 1.948,
+   "t_end": 65.218,
+   "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. 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": "c297a2ef-6581-468e-8b07-d673e9e3b702",
+   "segment": "segment1",
+   "action": "DR02",
+   "quality": "valid",
+   "start_s": 65.435,
+   "end_s": 130.058,
+   "t_start": 65.474,
+   "t_end": 130.097,
+   "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. 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/DR02/session_004/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bd8ab71587df73a65543ba2a581e64c094ade99539f6330b24bb80c30d99e56
+size 772134

actions/dynamic_recovery/DR02/session_004/meta.json

@@ -327,8 +327,8 @@
   "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": {
@@ -509,10 +509,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.1163965362918895
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 28.39,
+    "offset_rotvec": [
+     0.4231,
+     -0.1911,
+     0.1731
+    ],
+    "dev_deg": {
+     "median": 16.44,
+     "p90": 40.07
+    },
+    "samples": 1964,
+    "accepted": 1545,
+    "wrist_pos_err_mm_median": 167.0,
+    "per_camera": {
+     "head": {
+      "samples": 1964,
+      "accepted": 1545,
+      "gate_deg": 30.0,
+      "offset_deg": 28.39,
+      "tier": "primary",
+      "dev_deg_median": 16.44,
+      "wrist_pos_err_mm_median": 167.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 6486,
+     "interpolated": 6902,
+     "mean_hand": 2696,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.8324,
+    "observed_fraction_of_valid": 0.8324,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 27.12,
+     "smplx": 0.61
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.9,
+      "p90": 9.7
+     },
+     "registered": {
+      "median": 5.8,
+      "p90": 7.0
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 13.67,
+    "offset_rotvec": [
+     0.1225,
+     0.182,
+     0.0935
+    ],
+    "dev_deg": {
+     "median": 33.84,
+     "p90": 58.24
+    },
+    "samples": 523,
+    "accepted": 224,
+    "wrist_pos_err_mm_median": 325.6,
+    "per_camera": {
+     "head": {
+      "samples": 523,
+      "accepted": 224,
+      "gate_deg": 30.0,
+      "offset_deg": 13.67,
+      "tier": "primary",
+      "dev_deg_median": 33.84,
+      "wrist_pos_err_mm_median": 325.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 792,
+     "interpolated": 572,
+     "mean_hand": 14720,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.0848,
+    "observed_fraction_of_valid": 0.0848,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 39.5,
+     "smplx": 1.24
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.8,
+      "p90": 14.4
+     },
+     "registered": {
+      "median": 9.2,
+      "p90": 13.5
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:04:47.223289+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/DR02/session_004",
   "family": "dynamic_recovery",
   "primitive": "DR02",
   "source_session": "20260912/DR02/20260912_040253_session2"
+ },
+ "task": {
+  "primitive": "DR02",
+  "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. 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/DR02/session_004/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d271037d932c036bd4b01b4bea027b0980e63334144afce297a4917a0889aba4
+size 1887539

actions/dynamic_recovery/DR02/session_004/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0471f4925d1f1bffd126b98af5584ce28f2c204dc43cbad212d5f2ca8a4e8c51
-size 6200053
+oid sha256:dee5b1949dad7ae19fa49688d059e8bb602b60341c6036aae67e03d70860deec
+size 9108688

actions/dynamic_recovery/DR02/session_005/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": "DR02",
+ "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. 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": [
+  {
+   "id": "segment1",
+   "duration_s": 123.966656,
+   "video": "left_eye",
+   "video_t_start": 0.03902644336728156
+  }
+ ],
+ "episodes": [
+  {
+   "id": "1959ff35-beef-4a1f-ab8f-5c92440b9174",
+   "segment": "segment1",
+   "action": "DR02",
+   "quality": "valid",
+   "start_s": 1.458,
+   "end_s": 62.8,
+   "t_start": 1.497,
+   "t_end": 62.839,
+   "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. 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": "99c75516-501b-4cba-91d6-cdcd24635c49",
+   "segment": "segment1",
+   "action": "DR02",
+   "quality": "valid",
+   "start_s": 62.8,
+   "end_s": 123.272,
+   "t_start": 62.839,
+   "t_end": 123.311,
+   "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. 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/DR02/session_005/cameras/gsi_online_calibration.json

@@ -0,0 +1,254 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.336
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.8157,
+   "gate_fail": [],
+   "held_out_px_after": 0.474,
+   "held_out_px_before": 4.043,
+   "inliers": 3670,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.4436,
+    -0.2658,
+    -0.6308
+   ],
+   "split_deg": 0.0243,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.8193,
+   "gate_fail": [],
+   "held_out_px_after": 0.361,
+   "held_out_px_before": 6.816,
+   "inliers": 4618,
+   "position_fitted": true,
+   "position_mm": [
+    2.61,
+    -9.66,
+    12.34
+   ],
+   "position_sigma_mm": 0.356,
+   "position_split_mm": 1.98,
+   "rotvec_deg": [
+    0.1383,
+    0.4673,
+    -1.7528
+   ],
+   "split_deg": 0.0141,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.1271,
+   "gate_fail": [],
+   "held_out_px_after": 0.514,
+   "held_out_px_before": 3.314,
+   "inliers": 1212,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.0097,
+    -0.488,
+    -0.1127
+   ],
+   "split_deg": 0.0702,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.7834,
+   "gate_fail": [],
+   "held_out_px_after": 0.327,
+   "held_out_px_before": 2.837,
+   "inliers": 4998,
+   "position_fitted": true,
+   "position_mm": [
+    1.68,
+    -9.62,
+    13.44
+   ],
+   "position_sigma_mm": 0.35,
+   "position_split_mm": 0.272,
+   "rotvec_deg": [
+    0.2906,
+    -0.5919,
+    -0.423
+   ],
+   "split_deg": 0.016,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.3428,
+   "gate_fail": [],
+   "held_out_px_after": 0.294,
+   "held_out_px_before": 4.617,
+   "inliers": 5822,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.4413,
+    -0.041,
+    -1.2676
+   ],
+   "split_deg": 0.01,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "0e40c0d782d6534927492016368d1acfc7cbf65fc809fb91b2d0db4195c653e0",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "d4181a559c4cc084d632a691c4a8cc22931bd7cd7ccab979780e5b0712032b8a",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "662ff331c7d1a003a3ef559fe598ebd5b424d9e99a78ddd7f3dda94b75151171",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "4f2e26735875b8d9f994e66cc5f373ad45a5092a2043697c48290a047dfa1ed0",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "16c88504ba71e919",
+ "kind": "online_calibration",
+ "output_sha256": "fbb0da0046be7a0a51ad8d36174e916a345c5a85b2d6db64f13051c95c605bc9",
+ "overlap": {
+  "left-right": 0.501,
+  "left_eye-left": 0.707,
+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 27.501,
+  "left_eye": 27.972,
+  "left_front": 36.025,
+  "right": 21.583,
+  "right_eye": 32.397,
+  "right_front": 35.511
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   6427737712444,
+   6428737679111,
+   6435737690222,
+   6436737679111,
+   6438737679111,
+   6439737668000,
+   6443737734666,
+   6444737712444,
+   6447737712444,
+   6448737668000,
+   6449737679111,
+   6452737723555,
+   6453737712444,
+   6458737679111,
+   6459737668000,
+   6463737690222,
+   6464737668000,
+   6465737679111,
+   6469737668000,
+   6470737679111,
+   6475737679111,
+   6476737712444,
+   6478737734666,
+   6479737668000,
+   6481737679111,
+   6482737668000,
+   6486737679111,
+   6487737668000,
+   6488737712444,
+   6489737668000,
+   6492737679111,
+   6493737801333,
+   6498737712444,
+   6499737679111,
+   6502737668000,
+   6503737712444,
+   6507737679111,
+   6508737723555,
+   6509737723555,
+   6513737723555,
+   6514737679111,
+   6516737679111,
+   6517737723555,
+   6522737679111,
+   6523737734666,
+   6527737723555,
+   6528737679111,
+   6529737668000,
+   6535737701333,
+   6536737668000,
+   6537737679111,
+   6540737668000,
+   6541737668000,
+   6546737712444,
+   6547737679111
+  ]
+ },
+ "version": 1
+}

actions/dynamic_recovery/DR02/session_005/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38a0ccbda682e942174344e6ea8a4d40adb3eabae6c0e101ebcb438857492b12
+size 713896

actions/dynamic_recovery/DR02/session_005/meta.json

@@ -330,8 +330,8 @@
   "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": {
@@ -522,10 +522,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.0016688895122965
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 18.81,
+    "offset_rotvec": [
+     -0.0992,
+     -0.2961,
+     -0.1011
+    ],
+    "dev_deg": {
+     "median": 11.35,
+     "p90": 25.13
+    },
+    "samples": 2765,
+    "accepted": 2608,
+    "wrist_pos_err_mm_median": 66.1,
+    "per_camera": {
+     "head": {
+      "samples": 2765,
+      "accepted": 2608,
+      "gate_deg": 30.0,
+      "offset_deg": 18.81,
+      "tier": "primary",
+      "dev_deg_median": 11.35,
+      "wrist_pos_err_mm_median": 66.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10692,
+     "interpolated": 3804,
+     "mean_hand": 380,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9739,
+    "observed_fraction_of_valid": 0.9745,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 18.39,
+     "smplx": 0.37
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.6,
+      "p90": 9.6
+     },
+     "registered": {
+      "median": 8.6,
+      "p90": 9.3
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 21.73,
+    "offset_rotvec": [
+     -0.3372,
+     0.1717,
+     -0.0254
+    ],
+    "dev_deg": {
+     "median": 12.36,
+     "p90": 36.09
+    },
+    "samples": 2173,
+    "accepted": 1853,
+    "wrist_pos_err_mm_median": 85.8,
+    "per_camera": {
+     "head": {
+      "samples": 2173,
+      "accepted": 1853,
+      "gate_deg": 30.0,
+      "offset_deg": 21.73,
+      "tier": "primary",
+      "dev_deg_median": 12.36,
+      "wrist_pos_err_mm_median": 85.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 7716,
+     "interpolated": 6366,
+     "mean_hand": 794,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9461,
+    "observed_fraction_of_valid": 0.9466,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 21.17,
+     "smplx": 0.86
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 13.4,
+      "p90": 19.0
+     },
+     "registered": {
+      "median": 13.2,
+      "p90": 18.1
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:04:53.918809+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/DR02/session_005",
   "family": "dynamic_recovery",
   "primitive": "DR02",
   "source_session": "20260912/DR02/20260912_094628_session70"
+ },
+ "task": {
+  "primitive": "DR02",
+  "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. 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/DR02/session_005/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:978aa86b09d09969022e7b50d71a6b3d9eb144778ccc9cb5efb91c9d6c076718
+size 3455410

actions/dynamic_recovery/DR02/session_005/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ddcf863bc991f1611eacc4106d2ce8c697bab80f840ecb114c2ce2aba0215a23
-size 5710502
+oid sha256:e860d1e34840a0577b040aa8a7a2ad381123065f8793d1e520150b93d51e8997
+size 10561653