Release update 2026-11-05: 5760 sessions, instructions, annotations (part 20)

actions/dynamic_recovery/DR09/session_008/annotations.json

@@ -0,0 +1,39 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 2)",
+ "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": "DR09",
+ "instruction": "Walk across the room at a normal pace, looking ahead. Something may appear in your way. Deal with it however comes naturally and carry on.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 140.900022,
+   "video": "left_eye",
+   "video_t_start": 0.04004222965858996
+  }
+ ],
+ "episodes": [
+  {
+   "id": "dc63c52c-44da-41d7-a330-0150390e1720",
+   "segment": "segment1",
+   "action": "DR09",
+   "quality": "valid",
+   "start_s": 2.753,
+   "end_s": 75.275,
+   "t_start": 2.793,
+   "t_end": 75.315,
+   "instruction": "Walk across the room at a normal pace, looking ahead. Something may appear in your way. Deal with it however comes naturally and carry on."
+  },
+  {
+   "id": "b664f8c3-0d4d-4295-996f-5df9008e5b7f",
+   "segment": "segment1",
+   "action": "DR09",
+   "quality": "valid",
+   "start_s": 83.275,
+   "end_s": 137.256,
+   "t_start": 83.315,
+   "t_end": 137.296,
+   "instruction": "Walk across the room at a normal pace, looking ahead. Something may appear in your way. Deal with it however comes naturally and carry on."
+  }
+ ]
+}

actions/dynamic_recovery/DR09/session_008/cameras/gsi_online_calibration.json

@@ -0,0 +1,256 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.383
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.5665,
+   "gate_fail": [],
+   "held_out_px_after": 0.464,
+   "held_out_px_before": 15.687,
+   "inliers": 1401,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.4472,
+    -0.1187,
+    -0.5879
+   ],
+   "split_deg": 0.022,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.3655,
+   "gate_fail": [],
+   "held_out_px_after": 0.599,
+   "held_out_px_before": 6.773,
+   "inliers": 2034,
+   "position_fitted": true,
+   "position_mm": [
+    3.7,
+    -33.3,
+    -4.92
+   ],
+   "position_sigma_mm": 0.243,
+   "position_split_mm": 5.249,
+   "rotvec_deg": [
+    1.5505,
+    -0.7356,
+    1.6281
+   ],
+   "split_deg": 0.1241,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.3139,
+   "gate_fail": [],
+   "held_out_px_after": 0.545,
+   "held_out_px_before": 8.309,
+   "inliers": 1528,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.5263,
+    -1.3381,
+    2.6195
+   ],
+   "split_deg": 0.109,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 3.27,
+   "gate_fail": [],
+   "held_out_px_after": 0.402,
+   "held_out_px_before": 5.657,
+   "inliers": 2672,
+   "position_fitted": true,
+   "position_mm": [
+    2.82,
+    -17.2,
+    -1.96
+   ],
+   "position_sigma_mm": 0.242,
+   "position_split_mm": 4.194,
+   "rotvec_deg": [
+    2.0228,
+    -1.2084,
+    2.2674
+   ],
+   "split_deg": 0.0789,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.4216,
+   "gate_fail": [],
+   "held_out_px_after": 0.348,
+   "held_out_px_before": 2.691,
+   "inliers": 3603,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.244,
+    -0.3398,
+    0.0521
+   ],
+   "split_deg": 0.0201,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "12acf842acd3f0a354663f45ef3ac9fbb40a6bd3eb986700e9bcd1b1acd509df",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "2fe30962f6b1ac6e4e3ddad6b41d347e6c2651862d9add38711be5fd0fd15993",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "c22aebf554d91ef329c96b00821b3c84a1cd0a4368ea54ce65e441cc75994606",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "6c87755ba3f84f6973ea5cd352407b544d20eebdd61174a59d2f864a48669b70",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "ae66d762ddb2b26f",
+ "kind": "online_calibration",
+ "output_sha256": "1005ceaa51b6b1e1123c1043de3e8df8282f1b9e9b885261c6c069028ee65757",
+ "overlap": {
+  "left-right": 0.5,
+  "left_eye-left": 0.695,
+  "left_eye-right": 0.702,
+  "left_front-left": 0.506,
+  "left_front-left_eye": 0.692,
+  "left_front-right": 0.458,
+  "left_front-right_eye": 0.698,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.699,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.706,
+  "right_front-left": 0.49,
+  "right_front-left_eye": 0.697,
+  "right_front-right": 0.464,
+  "right_front-right_eye": 0.704
+ },
+ "picture_change": {
+  "left": 39.529,
+  "left_eye": 40.384,
+  "left_front": 41.351,
+  "right": 41.557,
+  "right_eye": 41.558,
+  "right_front": 41.882
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   11989644405888,
+   11990644394777,
+   11994644505888,
+   11995644383666,
+   11999644394777,
+   12000644383666,
+   12004644383666,
+   12005644383666,
+   12012644350333,
+   12013644350333,
+   12016644517000,
+   12017644428111,
+   12018644339222,
+   12022644372555,
+   12023644439222,
+   12026644383666,
+   12027644372555,
+   12035644361444,
+   12036644383666,
+   12037644461444,
+   12038644383666,
+   12043644372555,
+   12044644350333,
+   12045644383666,
+   12046644372555,
+   12049644361444,
+   12050644361444,
+   12054644372555,
+   12055644361444,
+   12060644428111,
+   12061644394777,
+   12063644517000,
+   12064644494777,
+   12071644372555,
+   12072644372555,
+   12076644383666,
+   12077644494777,
+   12078644383666,
+   12082644383666,
+   12083644361444,
+   12089644372555,
+   12090644383666,
+   12092644383666,
+   12093644383666,
+   12099644372555,
+   12100644383666,
+   12101644361444,
+   12108644372555,
+   12109644361444,
+   12112644361444,
+   12113644361444,
+   12116644383666,
+   12117644361444,
+   12118644383666,
+   12119644361444,
+   12125644383666,
+   12126644383666
+  ]
+ },
+ "version": 1
+}

actions/dynamic_recovery/DR09/session_008/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc3777a987ef4e0deb2a3ff59f3c6d7bd52eb383896e64702ca01e8fd6a7b7ad
+size 810663

actions/dynamic_recovery/DR09/session_008/meta.json

@@ -382,8 +382,8 @@
   "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 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 14.9,
+    "offset_rotvec": [
+     0.1273,
+     -0.2149,
+     0.0724
+    ],
+    "dev_deg": {
+     "median": 14.69,
+     "p90": 27.79
+    },
+    "samples": 3925,
+    "accepted": 3605,
+    "wrist_pos_err_mm_median": 30.9,
+    "per_camera": {
+     "head": {
+      "samples": 3925,
+      "accepted": 3605,
+      "gate_deg": 30.0,
+      "offset_deg": 14.9,
+      "tier": "primary",
+      "dev_deg_median": 14.69,
+      "wrist_pos_err_mm_median": 30.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14590,
+     "interpolated": 1934,
+     "mean_hand": 5,
+     "no_body_fit": 387
+    },
+    "observed_fraction": 0.9768,
+    "observed_fraction_of_valid": 0.9997,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 15.47,
+     "smplx": 0.83
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.2,
+      "p90": 6.3
+     },
+     "registered": {
+      "median": 6.3,
+      "p90": 7.5
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 21.15,
+    "offset_rotvec": [
+     0.2645,
+     0.17,
+     0.1933
+    ],
+    "dev_deg": {
+     "median": 12.88,
+     "p90": 31.48
+    },
+    "samples": 3839,
+    "accepted": 3433,
+    "wrist_pos_err_mm_median": 48.3,
+    "per_camera": {
+     "head": {
+      "samples": 3839,
+      "accepted": 3433,
+      "gate_deg": 30.0,
+      "offset_deg": 21.15,
+      "tier": "primary",
+      "dev_deg_median": 12.88,
+      "wrist_pos_err_mm_median": 48.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13864,
+     "interpolated": 2092,
+     "mean_hand": 573,
+     "no_body_fit": 387
+    },
+    "observed_fraction": 0.9432,
+    "observed_fraction_of_valid": 0.9653,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 19.34,
+     "smplx": 1.38
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.6,
+      "p90": 11.7
+     },
+     "registered": {
+      "median": 7.3,
+      "p90": 13.1
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:49:23.701501+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/DR09/session_008",
   "family": "dynamic_recovery",
   "primitive": "DR09",
   "source_session": "20261016/DR09/20261016_115243_session31"
  },
+ "task": {
+  "primitive": "DR09",
+  "instruction": "Walk across the room at a normal pace, looking ahead. Something may appear in your way. Deal with it however comes naturally and carry on."
+ },
  "objects": [
   {
    "name": "CcBlue",

actions/dynamic_recovery/DR09/session_008/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e72935e7bbfe48904740a5c9647fe9f4ad5f9e0038394805fac2eec89d49123
+size 5363965

actions/dynamic_recovery/DR09/session_008/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:32481b3a4b4991e416222e7b63a79d1831a8a52715e7586e6e8268a47d24ad46
-size 6356754
+oid sha256:3658ded7cdbfab2a79c6bdaba987a728ba670337dbf02650376d0407b84569f6
+size 11850821

actions/dynamic_recovery/DR09/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": "DR09",
+ "instruction": "Walk across the room at a normal pace, looking ahead. Something may appear in your way. Deal with it however comes naturally and carry on.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 152.1001,
+   "video": "left_eye",
+   "video_t_start": 0.0395898849173683
+  }
+ ],
+ "episodes": [
+  {
+   "id": "82e1922a-4262-444a-9743-b4c7ae596b01",
+   "segment": "segment1",
+   "action": "DR09",
+   "quality": "valid",
+   "start_s": 0.997,
+   "end_s": 65.789,
+   "t_start": 1.0366,
+   "t_end": 65.8286,
+   "instruction": "Walk across the room at a normal pace, looking ahead. Something may appear in your way. Deal with it however comes naturally and carry on."
+  },
+  {
+   "id": "67bbea6a-7ae7-4920-8ad8-447faf2a705d",
+   "segment": "segment1",
+   "action": "DR09",
+   "quality": "valid",
+   "start_s": 71.789,
+   "end_s": 140.473,
+   "t_start": 71.8286,
+   "t_end": 140.5126,
+   "instruction": "Walk across the room at a normal pace, looking ahead. Something may appear in your way. Deal with it however comes naturally and carry on."
+  }
+ ]
+}

actions/dynamic_recovery/DR09/session_009/cameras/gsi_online_calibration.json

@@ -0,0 +1,259 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.416
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 2.3662,
+   "gate_fail": [],
+   "held_out_px_after": 0.556,
+   "held_out_px_before": 12.78,
+   "inliers": 1747,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.8022,
+    -1.3445,
+    0.7368
+   ],
+   "split_deg": 0.0853,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.7133,
+   "gate_fail": [],
+   "held_out_px_after": 0.551,
+   "held_out_px_before": 3.74,
+   "inliers": 2054,
+   "position_fitted": true,
+   "position_mm": [
+    2.51,
+    -9.19,
+    3.25
+   ],
+   "position_sigma_mm": 0.417,
+   "position_split_mm": 3.695,
+   "rotvec_deg": [
+    0.1712,
+    -0.2608,
+    0.6414
+   ],
+   "split_deg": 0.1073,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 3.4324,
+   "gate_fail": [],
+   "held_out_px_after": 0.553,
+   "held_out_px_before": 10.29,
+   "inliers": 1958,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.9871,
+    -1.0019,
+    2.6133
+   ],
+   "split_deg": 0.0808,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9441,
+   "gate_fail": [],
+   "held_out_px_after": 0.406,
+   "held_out_px_before": 5.66,
+   "inliers": 3043,
+   "position_fitted": true,
+   "position_mm": [
+    2.28,
+    -9.15,
+    3.3
+   ],
+   "position_sigma_mm": 0.365,
+   "position_split_mm": 1.519,
+   "rotvec_deg": [
+    0.5199,
+    -0.9787,
+    1.5973
+   ],
+   "split_deg": 0.0314,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.9191,
+   "gate_fail": [],
+   "held_out_px_after": 0.38,
+   "held_out_px_before": 5.44,
+   "inliers": 5216,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.7491,
+    -0.3798,
+    -0.3733
+   ],
+   "split_deg": 0.0143,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e3296774a321bb51",
+ "factory_root_name": "e3296774a321bb51",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "bb1e6ade1cfc746125802565fe376b5e03352f59b7a098fc8ab9cd7959571385",
+   "source_sha256": "2bf43346f9825da1c051096d46ceb924252959c0c3fed4ac9c166c6096121ae0"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "06118294aaf061d1522697bb2776767395bdfbfb670389f9cd8630c851d73423",
+   "source_sha256": "b80f390816142bc598f6a58e17810083d07270f17802c79b0d33dade12e1a7ed"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "b256fe244e60cdf24eab81199d4f5b3b35be26ed3a6c87ff6b0f5137e8231996",
+   "source_sha256": "55ee2a9af25410709c73762b726e1a41e5450b277090a5256571601dd5fd719b"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "737defabc6faab292acf10243450200ea4b5263f4953f3d88ccf499055f03fc6",
+   "source_sha256": "b2fcef709086e19cb082ae12586aebd1a6fa9a92db90015c1c5a641f4588dfc7"
+  }
+ },
+ "input_fingerprint": "7d64359bcd48f086",
+ "kind": "online_calibration",
+ "output_sha256": "87b9dd3019937e38a8dc2c635eeb27a10bba919188dc4738243ab1077d6535ef",
+ "overlap": {
+  "left-right": 0.489,
+  "left_eye-left": 0.684,
+  "left_eye-right": 0.685,
+  "left_eye-right_eye": 1.0,
+  "left_front-left": 0.466,
+  "left_front-left_eye": 0.717,
+  "left_front-right": 0.447,
+  "left_front-right_eye": 0.72,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.672,
+  "right_eye-right": 0.676,
+  "right_front-left": 0.469,
+  "right_front-left_eye": 0.746,
+  "right_front-right": 0.472,
+  "right_front-right_eye": 0.74
+ },
+ "picture_change": {
+  "left": 31.841,
+  "left_eye": 27.113,
+  "left_front": 34.611,
+  "right": 35.49,
+  "right_eye": 27.71,
+  "right_front": 34.148
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   3880926173000,
+   3881926173000,
+   3889926161888,
+   3890926161888,
+   3892926161888,
+   3893926306333,
+   3898926184111,
+   3899926239666,
+   3900926195222,
+   3901926184111,
+   3908926284111,
+   3909926195222,
+   3913926195222,
+   3914926161888,
+   3920926195222,
+   3921926173000,
+   3925926195222,
+   3926926173000,
+   3927926195222,
+   3934926195222,
+   3935926173000,
+   3936926173000,
+   3937926228555,
+   3940926239666,
+   3941926295222,
+   3949926228555,
+   3950926195222,
+   3951926184111,
+   3952926161888,
+   3957926184111,
+   3958926161888,
+   3962926195222,
+   3963926295222,
+   3968926161888,
+   3969926195222,
+   3972926161888,
+   3973926184111,
+   3976926173000,
+   3977926195222,
+   3984926161888,
+   3985926184111,
+   3986926184111,
+   3987926195222,
+   3995926173000,
+   3996926206333,
+   3997926173000,
+   4005926195222,
+   4006926173000,
+   4008926173000,
+   4009926173000,
+   4011926173000,
+   4012926173000,
+   4018926206333,
+   4019926184111,
+   4025926173000,
+   4026926173000,
+   4027926317444,
+   4028926217444
+  ]
+ },
+ "version": 1
+}

actions/dynamic_recovery/DR09/session_009/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63d676be7686276434c643efde9a263d966a3d678541be3b9d5942d2e4d9dbd2
+size 874044

actions/dynamic_recovery/DR09/session_009/meta.json

@@ -380,8 +380,8 @@
   "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": {
@@ -526,12 +526,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 35.02,
+    "offset_rotvec": [
+     0.5739,
+     -0.1852,
+     -0.0997
+    ],
+    "dev_deg": {
+     "median": 14.87,
+     "p90": 30.09
+    },
+    "samples": 2919,
+    "accepted": 2624,
+    "wrist_pos_err_mm_median": 123.3,
+    "per_camera": {
+     "head": {
+      "samples": 2919,
+      "accepted": 2624,
+      "gate_deg": 30.0,
+      "offset_deg": 35.02,
+      "tier": "primary",
+      "dev_deg_median": 14.87,
+      "wrist_pos_err_mm_median": 123.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10822,
+     "interpolated": 5658,
+     "mean_hand": 1774,
+     "no_body_fit": 6
+    },
+    "observed_fraction": 0.9025,
+    "observed_fraction_of_valid": 0.9028,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 40.97,
+     "smplx": 0.81
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.8,
+      "p90": 9.4
+     },
+     "registered": {
+      "median": 6.7,
+      "p90": 7.9
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 19.73,
+    "offset_rotvec": [
+     -0.0203,
+     0.3437,
+     -0.0044
+    ],
+    "dev_deg": {
+     "median": 15.68,
+     "p90": 43.29
+    },
+    "samples": 3013,
+    "accepted": 2255,
+    "wrist_pos_err_mm_median": 331.6,
+    "per_camera": {
+     "head": {
+      "samples": 3013,
+      "accepted": 2255,
+      "gate_deg": 30.0,
+      "offset_deg": 19.73,
+      "tier": "primary",
+      "dev_deg_median": 15.68,
+      "wrist_pos_err_mm_median": 331.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9268,
+     "interpolated": 5040,
+     "mean_hand": 3946,
+     "no_body_fit": 6
+    },
+    "observed_fraction": 0.7836,
+    "observed_fraction_of_valid": 0.7838,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 22.18,
+     "smplx": 0.9
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.3,
+      "p90": 8.4
+     },
+     "registered": {
+      "median": 7.4,
+      "p90": 10.6
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:45:16.588267+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/DR09/session_009",
   "family": "dynamic_recovery",
   "primitive": "DR09",
   "source_session": "20261017/DR09/20261017_014437_session9"
  },
+ "task": {
+  "primitive": "DR09",
+  "instruction": "Walk across the room at a normal pace, looking ahead. Something may appear in your way. Deal with it however comes naturally and carry on."
+ },
  "objects": [
   {
    "name": "BigBox",

actions/dynamic_recovery/DR09/session_009/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef5a5a5d1c7620d2cd335232999bc933c704d9c17db17fdf4b0869bfba7a5944
+size 4115716

actions/dynamic_recovery/DR09/session_009/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4a289a29cab983ef25356972f6302442d2da7a63d85c942d0bb593eca17d5eb1
-size 7014610
+oid sha256:402979fcd604e7143d8d7f0377015bb3d9afeb3cefaa1a71360aad36be775528
+size 12405521

actions/dynamic_recovery/DR09/session_010/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": "DR09",
+ "instruction": "Walk across the room at a normal pace, looking ahead. Something may appear in your way. Deal with it however comes naturally and carry on.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 124.7667,
+   "video": "left_eye",
+   "video_t_start": 0.03956531393236351
+  }
+ ],
+ "episodes": [
+  {
+   "id": "da59640a-d29b-4309-b803-8a99328f677d",
+   "segment": "segment1",
+   "action": "DR09",
+   "quality": "valid",
+   "start_s": 0.83,
+   "end_s": 58.38,
+   "t_start": 0.8696,
+   "t_end": 58.4196,
+   "instruction": "Walk across the room at a normal pace, looking ahead. Something may appear in your way. Deal with it however comes naturally and carry on."
+  },
+  {
+   "id": "4cc3ae97-99dd-4e24-a310-d1cc543aa3ab",
+   "segment": "segment1",
+   "action": "DR09",
+   "quality": "valid",
+   "start_s": 60.963,
+   "end_s": 122.943,
+   "t_start": 61.0026,
+   "t_end": 122.9826,
+   "instruction": "Walk across the room at a normal pace, looking ahead. Something may appear in your way. Deal with it however comes naturally and carry on."
+  }
+ ]
+}

actions/dynamic_recovery/DR09/session_010/cameras/gsi_online_calibration.json

@@ -0,0 +1,257 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.403
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 2.3879,
+   "gate_fail": [],
+   "held_out_px_after": 0.459,
+   "held_out_px_before": 8.328,
+   "inliers": 1909,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.9035,
+    -1.2887,
+    0.6465
+   ],
+   "split_deg": 0.1102,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.7353,
+   "gate_fail": [],
+   "held_out_px_after": 0.389,
+   "held_out_px_before": 3.339,
+   "inliers": 2319,
+   "position_fitted": true,
+   "position_mm": [
+    -0.58,
+    -14.56,
+    4.02
+   ],
+   "position_sigma_mm": 0.306,
+   "position_split_mm": 2.411,
+   "rotvec_deg": [
+    0.052,
+    -0.2181,
+    0.7003
+   ],
+   "split_deg": 0.0864,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 3.6931,
+   "gate_fail": [],
+   "held_out_px_after": 0.589,
+   "held_out_px_before": 10.024,
+   "inliers": 1410,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.1163,
+    -1.0105,
+    2.8529
+   ],
+   "split_deg": 0.0876,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9208,
+   "gate_fail": [],
+   "held_out_px_after": 0.367,
+   "held_out_px_before": 5.156,
+   "inliers": 2752,
+   "position_fitted": true,
+   "position_mm": [
+    -0.98,
+    -14.45,
+    3.75
+   ],
+   "position_sigma_mm": 0.284,
+   "position_split_mm": 2.27,
+   "rotvec_deg": [
+    0.3928,
+    -0.8657,
+    1.669
+   ],
+   "split_deg": 0.0644,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.8692,
+   "gate_fail": [],
+   "held_out_px_after": 0.401,
+   "held_out_px_before": 5.293,
+   "inliers": 3597,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.7434,
+    -0.3412,
+    -0.294
+   ],
+   "split_deg": 0.1122,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e3296774a321bb51",
+ "factory_root_name": "e3296774a321bb51",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "20030ce13accb0638cbea8c47ca9efcb22cac9e1fa0c10970f3fe3534eee9531",
+   "source_sha256": "2bf43346f9825da1c051096d46ceb924252959c0c3fed4ac9c166c6096121ae0"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "e9c52e7530fb265795c54b492a7fade89da90bec9d59cfc2720d3b49a88ebb0c",
+   "source_sha256": "b80f390816142bc598f6a58e17810083d07270f17802c79b0d33dade12e1a7ed"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "5405a04f54ece8d7759f90931702c939bd16ae2e977b2984231da42fd5f292e8",
+   "source_sha256": "55ee2a9af25410709c73762b726e1a41e5450b277090a5256571601dd5fd719b"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "bd6f8be9f58fc637456e983b41ef70ace5b112b2a936a52711075f38d9fe9ffb",
+   "source_sha256": "b2fcef709086e19cb082ae12586aebd1a6fa9a92db90015c1c5a641f4588dfc7"
+  }
+ },
+ "input_fingerprint": "43244a909ffc96d8",
+ "kind": "online_calibration",
+ "output_sha256": "66f00e86e16586d0505a86dabdae38829e19b95cfdd5f69e9ed32dcd72f175d0",
+ "overlap": {
+  "left-right": 0.489,
+  "left_eye-left": 0.684,
+  "left_eye-right": 0.685,
+  "left_eye-right_eye": 1.0,
+  "left_front-left": 0.466,
+  "left_front-left_eye": 0.717,
+  "left_front-right": 0.447,
+  "left_front-right_eye": 0.72,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.672,
+  "right_eye-right": 0.676,
+  "right_front-left": 0.469,
+  "right_front-left_eye": 0.746,
+  "right_front-right": 0.472,
+  "right_front-right_eye": 0.74
+ },
+ "picture_change": {
+  "left": 36.045,
+  "left_eye": 27.939,
+  "left_front": 36.668,
+  "right": 36.073,
+  "right_eye": 31.013,
+  "right_front": 33.316
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   29070431069000,
+   29071431069000,
+   29075431069000,
+   29076431069000,
+   29081431113444,
+   29082431169000,
+   29083431102333,
+   29084431080111,
+   29090431113444,
+   29091431080111,
+   29092431146777,
+   29097431091222,
+   29098431113444,
+   29101431113444,
+   29102431124555,
+   29105431080111,
+   29106431102333,
+   29108431113444,
+   29109431157888,
+   29113431113444,
+   29114431124555,
+   29118431113444,
+   29119431080111,
+   29122431080111,
+   29123431080111,
+   29124431080111,
+   29127431080111,
+   29128431091222,
+   29132431224555,
+   29133431157888,
+   29138431080111,
+   29139431124555,
+   29142431157888,
+   29143431080111,
+   29147431113444,
+   29148431157888,
+   29149431080111,
+   29155431113444,
+   29156431080111,
+   29159431169000,
+   29160431157888,
+   29163431146777,
+   29164431224555,
+   29165431113444,
+   29170431080111,
+   29171431080111,
+   29172431224555,
+   29173431080111,
+   29178431091222,
+   29179431080111,
+   29180431113444,
+   29181431113444,
+   29187431080111,
+   29188431091222,
+   29191431113444,
+   29192431091222
+  ]
+ },
+ "version": 1
+}

actions/dynamic_recovery/DR09/session_010/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4637c4890ce0e0562c49f4dd7bd0fb5328e30d2cdb065205e3739c90b2380c20
+size 719237

actions/dynamic_recovery/DR09/session_010/meta.json

@@ -468,6 +468,10 @@
   "primitive": "DR09",
   "source_session": "20261017/DR09/20261017_084427_session114"
  },
+ "task": {
+  "primitive": "DR09",
+  "instruction": "Walk across the room at a normal pace, looking ahead. Something may appear in your way. Deal with it however comes naturally and carry on."
+ },
  "objects": [
   {
    "name": "BigBox",

actions/dynamic_recovery/DR09/session_010/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2859fd19c88a50fbfc7a182599f520aaee16080e360d74a5d306cf292c5a6f10
+size 4541641