Release update 2026-11-05: 5760 sessions, instructions, annotations (part 17)

actions/dynamic_recovery/DR08/session_006/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": "DR08",
+ "instruction": "Walk back and forth across the room at a normal pace, looking ahead. There may be something on the floor. Recover however comes naturally and carry on.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 121.866689,
+   "video": "left_eye",
+   "video_t_start": 0.03934827908807634
+  }
+ ],
+ "episodes": [
+  {
+   "id": "87f7df59-aab5-4025-9575-6e93c82316e0",
+   "segment": "segment1",
+   "action": "DR08",
+   "quality": "valid",
+   "start_s": 1.896,
+   "end_s": 60.778,
+   "t_start": 1.9353,
+   "t_end": 60.8173,
+   "instruction": "Walk back and forth across the room at a normal pace, looking ahead. There may be something on the floor. Recover however comes naturally and carry on."
+  },
+  {
+   "id": "4c2ce5a9-0914-4466-b998-1d2f142a2b00",
+   "segment": "segment1",
+   "action": "DR08",
+   "quality": "valid",
+   "start_s": 64.08,
+   "end_s": 116.247,
+   "t_start": 64.1193,
+   "t_end": 116.2863,
+   "instruction": "Walk back and forth across the room at a normal pace, looking ahead. There may be something on the floor. Recover however comes naturally and carry on."
+  }
+ ]
+}

actions/dynamic_recovery/DR08/session_006/cameras/gsi_online_calibration.json

@@ -0,0 +1,224 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.375
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 2.3168,
+   "gate_fail": [],
+   "held_out_px_after": 0.509,
+   "held_out_px_before": 8.253,
+   "inliers": 1268,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.7225,
+    -1.2924,
+    0.8543
+   ],
+   "split_deg": 0.0434,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.7066,
+   "gate_fail": [],
+   "held_out_px_after": 0.375,
+   "held_out_px_before": 3.673,
+   "inliers": 2263,
+   "position_fitted": true,
+   "position_mm": [
+    1.12,
+    -9.97,
+    4.7
+   ],
+   "position_sigma_mm": 0.169,
+   "position_split_mm": 2.465,
+   "rotvec_deg": [
+    0.0735,
+    -0.2005,
+    0.6736
+   ],
+   "split_deg": 0.0773,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 3.3871,
+   "gate_fail": [],
+   "held_out_px_after": 0.499,
+   "held_out_px_before": 7.252,
+   "inliers": 1259,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.9245,
+    -0.9327,
+    2.6266
+   ],
+   "split_deg": 0.053,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9108,
+   "gate_fail": [],
+   "held_out_px_after": 0.372,
+   "held_out_px_before": 5.273,
+   "inliers": 2816,
+   "position_fitted": true,
+   "position_mm": [
+    2.66,
+    -10.56,
+    4.72
+   ],
+   "position_sigma_mm": 0.265,
+   "position_split_mm": 3.301,
+   "rotvec_deg": [
+    0.4161,
+    -0.8736,
+    1.6477
+   ],
+   "split_deg": 0.1052,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.9017,
+   "gate_fail": [],
+   "held_out_px_after": 0.391,
+   "held_out_px_before": 5.248,
+   "inliers": 4081,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.7489,
+    -0.3405,
+    -0.3692
+   ],
+   "split_deg": 0.1004,
+   "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": "4456e68025f93cc2bddbcb999b322d48aa0e97200155e8a0aeb8111602603dc1",
+   "source_sha256": "2bf43346f9825da1c051096d46ceb924252959c0c3fed4ac9c166c6096121ae0"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "4e8e03782ce2e23307fcfedeedd4cb482e9af0fdd8f4c3a70d099a5444d29c8e",
+   "source_sha256": "b80f390816142bc598f6a58e17810083d07270f17802c79b0d33dade12e1a7ed"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "bbdfdb5722bd54d9ba89dd0f862fe320cf3f955d18c09fdb76dc4224c95d5de1",
+   "source_sha256": "55ee2a9af25410709c73762b726e1a41e5450b277090a5256571601dd5fd719b"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "c398db367569cee84a079503a1292e3e7da2f287fe58cf10d530451ffadc314c",
+   "source_sha256": "b2fcef709086e19cb082ae12586aebd1a6fa9a92db90015c1c5a641f4588dfc7"
+  }
+ },
+ "input_fingerprint": "5e598f82948a81ab",
+ "kind": "online_calibration",
+ "output_sha256": "4b0c9399f5d9aba9a015ba10d378881942284c6f6e6e77c597544a5e2fb6b37a",
+ "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": 33.559,
+  "left_eye": 26.947,
+  "left_front": 36.539,
+  "right": 31.809,
+  "right_eye": 27.091,
+  "right_front": 36.209
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   3690411232111,
+   3691411209888,
+   3692411243222,
+   3693411287666,
+   3694411209888,
+   3695411221000,
+   3696411232111,
+   3697411221000,
+   3698411287666,
+   3699411365444,
+   3700411221000,
+   3701411243222,
+   3702411254333,
+   3703411287666,
+   3704411221000,
+   3705411254333,
+   3706411265444,
+   3707411276555,
+   3708411232111,
+   3709411221000,
+   3710411209888,
+   3711411232111,
+   3712411221000
+  ]
+ },
+ "version": 1
+}

actions/dynamic_recovery/DR08/session_006/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c572761e7cb1ac0934a3c8b7e81a6e4e91c3ba7c7bbb82023d2195a5b2a1ccd
+size 699782

actions/dynamic_recovery/DR08/session_006/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": {
@@ -523,19 +523,127 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 40.0,
+    "offset_rotvec": [
+     0.6524,
+     -0.2231,
+     -0.1098
+    ],
+    "dev_deg": {
+     "median": 14.32,
+     "p90": 24.62
+    },
+    "samples": 2425,
+    "accepted": 2282,
+    "wrist_pos_err_mm_median": 154.1,
+    "per_camera": {
+     "head": {
+      "samples": 2425,
+      "accepted": 2282,
+      "gate_deg": 30.0,
+      "offset_deg": 40.0,
+      "tier": "primary",
+      "dev_deg_median": 14.32,
+      "wrist_pos_err_mm_median": 154.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9362,
+     "interpolated": 4006,
+     "mean_hand": 1256,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9136,
+    "observed_fraction_of_valid": 0.9141,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 41.61,
+     "smplx": 0.8
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.7,
+      "p90": 6.7
+     },
+     "registered": {
+      "median": 6.9,
+      "p90": 7.9
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 23.15,
+    "offset_rotvec": [
+     0.0524,
+     0.3995,
+     -0.0304
+    ],
+    "dev_deg": {
+     "median": 16.64,
+     "p90": 40.38
+    },
+    "samples": 2458,
+    "accepted": 1953,
+    "wrist_pos_err_mm_median": 125.8,
+    "per_camera": {
+     "head": {
+      "samples": 2458,
+      "accepted": 1953,
+      "gate_deg": 30.0,
+      "offset_deg": 23.15,
+      "tier": "primary",
+      "dev_deg_median": 16.64,
+      "wrist_pos_err_mm_median": 125.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 8016,
+     "interpolated": 4168,
+     "mean_hand": 2440,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.8327,
+    "observed_fraction_of_valid": 0.8332,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 24.35,
+     "smplx": 1.92
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.9,
+      "p90": 6.9
+     },
+     "registered": {
+      "median": 5.5,
+      "p90": 6.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:45:16.579238+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/DR08/session_006",
   "family": "dynamic_recovery",
   "primitive": "DR08",
   "source_session": "20261017/DR08/20261017_014127_session8"
  },
+ "task": {
+  "primitive": "DR08",
+  "instruction": "Walk back and forth across the room at a normal pace, looking ahead. There may be something on the floor. Recover however comes naturally and carry on."
+ },
  "objects": [
-  {
-   "name": "BigBox",
-   "object_type": "BigBox",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
-  },
   {
    "name": "BigBox1",
    "object_type": "BigBox",

actions/dynamic_recovery/DR08/session_006/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0d2c37cd132bfab28313e5abf8f42a788efd4fc61c5bb758d192b4ab8eba4eb
+size 3377894

actions/dynamic_recovery/DR08/session_006/motions/objects.json

@@ -1,6 +1,6 @@
 {
  "session": "20261017/DR08/20261017_014127_session8",
- "generated_at_utc": "2026-10-29T12:09:13.855294+00:00",
+ "generated_at_utc": "2026-10-29T12:42:16.541572+00:00",
  "generated_by": "scripts/export_objects.py",
  "frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)",
  "grid": "body grid (smplx.npz t / frame_index)",

actions/dynamic_recovery/DR08/session_006/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:822182e55f4e49d302caeda8564f48e10d5be1ae7c7ff8897b2ed17e2ad190ab
-size 5609378
+oid sha256:8909d9cf479ce5fa6f1bb463e9333fcf34ba1a0ff49ccabbe13d17303b302628
+size 10067789

actions/dynamic_recovery/DR08/session_007/annotations.json

@@ -0,0 +1,39 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "DR08",
+ "instruction": "Walk back and forth across the room at a normal pace, looking ahead. There may be something on the floor. Recover however comes naturally and carry on.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 119.766678,
+   "video": "left_eye",
+   "video_t_start": 0.03951058909194512
+  }
+ ],
+ "episodes": [
+  {
+   "id": "57f86a41-ca3e-4f46-8efc-1ce1fe586bf5",
+   "segment": "segment1",
+   "action": "DR08",
+   "quality": "valid",
+   "start_s": 1.214,
+   "end_s": 58.875,
+   "t_start": 1.2535,
+   "t_end": 58.9145,
+   "instruction": "Walk back and forth across the room at a normal pace, looking ahead. There may be something on the floor. Recover however comes naturally and carry on."
+  },
+  {
+   "id": "3c9a984b-cd55-4195-8570-2dcbfdbf046d",
+   "segment": "segment1",
+   "action": "DR08",
+   "quality": "valid",
+   "start_s": 60.875,
+   "end_s": 117.285,
+   "t_start": 60.9145,
+   "t_end": 117.3245,
+   "instruction": "Walk back and forth across the room at a normal pace, looking ahead. There may be something on the floor. Recover however comes naturally and carry on."
+  }
+ ]
+}

actions/dynamic_recovery/DR08/session_007/cameras/gsi_online_calibration.json

@@ -0,0 +1,254 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.396
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 2.3784,
+   "gate_fail": [],
+   "held_out_px_after": 0.548,
+   "held_out_px_before": 11.469,
+   "inliers": 1482,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.8675,
+    -1.3156,
+    0.6622
+   ],
+   "split_deg": 0.0362,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.8371,
+   "gate_fail": [],
+   "held_out_px_after": 0.392,
+   "held_out_px_before": 3.436,
+   "inliers": 2016,
+   "position_fitted": true,
+   "position_mm": [
+    2.34,
+    -13.0,
+    2.92
+   ],
+   "position_sigma_mm": 0.3,
+   "position_split_mm": 0.93,
+   "rotvec_deg": [
+    0.0912,
+    -0.2634,
+    0.7893
+   ],
+   "split_deg": 0.0184,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 3.7386,
+   "gate_fail": [],
+   "held_out_px_after": 0.64,
+   "held_out_px_before": 10.444,
+   "inliers": 1410,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.1263,
+    -1.0144,
+    2.9029
+   ],
+   "split_deg": 0.1567,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9516,
+   "gate_fail": [],
+   "held_out_px_after": 0.357,
+   "held_out_px_before": 5.28,
+   "inliers": 2485,
+   "position_fitted": true,
+   "position_mm": [
+    0.13,
+    -11.49,
+    2.14
+   ],
+   "position_sigma_mm": 0.301,
+   "position_split_mm": 2.456,
+   "rotvec_deg": [
+    0.4686,
+    -0.8888,
+    1.6731
+   ],
+   "split_deg": 0.055,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.8688,
+   "gate_fail": [],
+   "held_out_px_after": 0.375,
+   "held_out_px_before": 5.229,
+   "inliers": 3576,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.7305,
+    -0.3616,
+    -0.3006
+   ],
+   "split_deg": 0.0155,
+   "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": "8117e94ebd3f3352ae45d9eb0c89bb2b0f8147473d1960ff6b213e48d8e6bf28",
+   "source_sha256": "2bf43346f9825da1c051096d46ceb924252959c0c3fed4ac9c166c6096121ae0"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "6d525ee20bb266de9bb8b584d377a3cb6b18b9b2ace118ccde688650458d330c",
+   "source_sha256": "b80f390816142bc598f6a58e17810083d07270f17802c79b0d33dade12e1a7ed"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "24407bc98fc601f8a6d45de695bdc48ade522691155a0dd5623ceb313f7139d7",
+   "source_sha256": "55ee2a9af25410709c73762b726e1a41e5450b277090a5256571601dd5fd719b"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "0ae727b1c23b8956c8dd27ba6f32abae8758af8a5993326b17b09446d9689764",
+   "source_sha256": "b2fcef709086e19cb082ae12586aebd1a6fa9a92db90015c1c5a641f4588dfc7"
+  }
+ },
+ "input_fingerprint": "ff17e8f65753e4da",
+ "kind": "online_calibration",
+ "output_sha256": "5ea6e5ffb2490a6fe5ef400345b6ef0b916a1772e65c00bbc7fbbfc7e11707ba",
+ "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": 35.243,
+  "left_eye": 28.245,
+  "left_front": 35.259,
+  "right": 33.831,
+  "right_eye": 28.751,
+  "right_front": 33.522
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   28928769964666,
+   28929769975777,
+   28933769931333,
+   28934769898000,
+   28935769898000,
+   28936769898000,
+   28937769975777,
+   28940769964666,
+   28941769931333,
+   28942769898000,
+   28945770042444,
+   28946769931333,
+   28948769931333,
+   28949769886888,
+   28951769920222,
+   28952769898000,
+   28953769898000,
+   28954769898000,
+   28956769942444,
+   28957769898000,
+   28958769898000,
+   28959769886888,
+   28960769931333,
+   28963769886888,
+   28964769909111,
+   28966769898000,
+   28967770042444,
+   28968769898000,
+   28970769909111,
+   28971769886888,
+   28974769898000,
+   28975769931333,
+   28976769909111,
+   28977769964666,
+   28979769920222,
+   28980769898000,
+   28981769931333,
+   28984769931333,
+   28985769920222,
+   28986769975777,
+   28988769898000,
+   28989769898000,
+   28992769909111,
+   28993769920222,
+   28994769898000,
+   28995769920222,
+   28997769886888,
+   28998769898000,
+   28999769898000,
+   29001769898000,
+   29002769986888,
+   29003770042444,
+   29004770053555
+  ]
+ },
+ "version": 1
+}

actions/dynamic_recovery/DR08/session_007/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90eb1f370deeecf0875da76291a2a26c0cf4a51761b2263a537fedfb6e1220cf
+size 690885

actions/dynamic_recovery/DR08/session_007/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": {
@@ -481,12 +481,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 41.75,
+    "offset_rotvec": [
+     0.6631,
+     -0.1151,
+     0.2794
+    ],
+    "dev_deg": {
+     "median": 12.26,
+     "p90": 23.14
+    },
+    "samples": 3273,
+    "accepted": 3145,
+    "wrist_pos_err_mm_median": 33.5,
+    "per_camera": {
+     "head": {
+      "samples": 3273,
+      "accepted": 3145,
+      "gate_deg": 30.0,
+      "offset_deg": 41.75,
+      "tier": "primary",
+      "dev_deg_median": 12.26,
+      "wrist_pos_err_mm_median": 33.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12730,
+     "interpolated": 1638,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9992,
+    "observed_fraction_of_valid": 0.9992,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 34.53,
+     "smplx": 0.33
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 15.2,
+      "p90": 20.1
+     },
+     "registered": {
+      "median": 14.3,
+      "p90": 19.4
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 21.83,
+    "offset_rotvec": [
+     0.3608,
+     -0.0119,
+     0.1218
+    ],
+    "dev_deg": {
+     "median": 7.53,
+     "p90": 18.51
+    },
+    "samples": 3089,
+    "accepted": 2973,
+    "wrist_pos_err_mm_median": 60.0,
+    "per_camera": {
+     "head": {
+      "samples": 3089,
+      "accepted": 2973,
+      "gate_deg": 30.0,
+      "offset_deg": 21.83,
+      "tier": "primary",
+      "dev_deg_median": 7.53,
+      "wrist_pos_err_mm_median": 60.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12044,
+     "interpolated": 2200,
+     "mean_hand": 136,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9905,
+    "observed_fraction_of_valid": 0.9905,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 22.04,
+     "smplx": 0.59
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 12.1,
+      "p90": 18.5
+     },
+     "registered": {
+      "median": 12.6,
+      "p90": 16.9
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:45:18.243297+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/DR08/session_007",
   "family": "dynamic_recovery",
   "primitive": "DR08",
   "source_session": "20261017/DR08/20261017_084205_session113"
  },
+ "task": {
+  "primitive": "DR08",
+  "instruction": "Walk back and forth across the room at a normal pace, looking ahead. There may be something on the floor. Recover however comes naturally and carry on."
+ },
  "objects": [
   {
    "name": "BigBox",

actions/dynamic_recovery/DR08/session_007/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:725c60b615e130ab2ecb8ebb984f63bfbd7723c8335178073182f23e2a2477ae
+size 4327336

actions/dynamic_recovery/DR08/session_007/motions/objects.json

@@ -1,6 +1,6 @@
 {
  "session": "20261017/DR08/20261017_084205_session113",
- "generated_at_utc": "2026-10-29T12:09:24.853768+00:00",
+ "generated_at_utc": "2026-10-29T12:42:18.932340+00:00",
  "generated_by": "scripts/export_objects.py",
  "frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)",
  "grid": "body grid (smplx.npz t / frame_index)",

actions/dynamic_recovery/DR08/session_007/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2ab8937f4656fcd912b3ae82ddb702759c8fe4652a6a14211aa224dcf37ae796
-size 5528714
+oid sha256:8edadebd310a95f21752a87268e4eb8ff8c075484c77027e1b92c1e5a71f6f53
+size 10350115

actions/dynamic_recovery/DR08/session_008/annotations.json

@@ -0,0 +1,39 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "DR08",
+ "instruction": "Walk back and forth across the room at a normal pace, looking ahead. There may be something on the floor. Recover however comes naturally and carry on.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 123.966789,
+   "video": "left_eye",
+   "video_t_start": 0.04006774737370759
+  }
+ ],
+ "episodes": [
+  {
+   "id": "60ffb03c-d220-4467-bc5d-40c25c40a2df",
+   "segment": "segment1",
+   "action": "DR08",
+   "quality": "valid",
+   "start_s": 2.961,
+   "end_s": 53.236,
+   "t_start": 3.0011,
+   "t_end": 53.2761,
+   "instruction": "Walk back and forth across the room at a normal pace, looking ahead. There may be something on the floor. Recover however comes naturally and carry on."
+  },
+  {
+   "id": "53c4031e-4eac-4e53-bcf5-2b773ded9c2d",
+   "segment": "segment1",
+   "action": "DR08",
+   "quality": "valid",
+   "start_s": 53.236,
+   "end_s": 117.85,
+   "t_start": 53.2761,
+   "t_end": 117.8901,
+   "instruction": "Walk back and forth across the room at a normal pace, looking ahead. There may be something on the floor. Recover however comes naturally and carry on."
+  }
+ ]
+}

actions/dynamic_recovery/DR08/session_008/cameras/gsi_online_calibration.json

@@ -0,0 +1,228 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.406
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.5601,
+   "gate_fail": [],
+   "held_out_px_after": 0.474,
+   "held_out_px_before": 22.107,
+   "inliers": 1327,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.193,
+    -0.1209,
+    -0.998
+   ],
+   "split_deg": 0.1614,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.621,
+   "gate_fail": [],
+   "held_out_px_after": 0.475,
+   "held_out_px_before": 6.727,
+   "inliers": 2475,
+   "position_fitted": true,
+   "position_mm": [
+    5.25,
+    -28.0,
+    -6.6
+   ],
+   "position_sigma_mm": 0.404,
+   "position_split_mm": 4.246,
+   "rotvec_deg": [
+    1.8753,
+    -0.8664,
+    1.613
+   ],
+   "split_deg": 0.1724,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.6266,
+   "gate_fail": [],
+   "held_out_px_after": 0.632,
+   "held_out_px_before": 9.741,
+   "inliers": 1433,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.7036,
+    -1.213,
+    2.9629
+   ],
+   "split_deg": 0.1054,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 3.3123,
+   "gate_fail": [],
+   "held_out_px_after": 0.493,
+   "held_out_px_before": 5.397,
+   "inliers": 2437,
+   "position_fitted": true,
+   "position_mm": [
+    2.29,
+    -17.57,
+    -3.83
+   ],
+   "position_sigma_mm": 0.385,
+   "position_split_mm": 3.2,
+   "rotvec_deg": [
+    2.0495,
+    -1.1811,
+    2.3185
+   ],
+   "split_deg": 0.106,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.4069,
+   "gate_fail": [],
+   "held_out_px_after": 0.355,
+   "held_out_px_before": 2.107,
+   "inliers": 3140,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2412,
+    -0.3253,
+    -0.0388
+   ],
+   "split_deg": 0.0161,
+   "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": "0811b152dddc6937a385a46047a81e99855e1675e6d56b9290268e0a4224dd18",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "8eceaeb346dbf747d894bbd692895d66603d7d50803fb00f18436b3482178eb1",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "8ac56c69960c6ce1b311c36217f07e83f7381595660298d87c3444d3abb35738",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "4c779334287a667360985119a78d79013c67f315ea2b5df3a7ae615616a73336",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "38a4d42a827debfa",
+ "kind": "online_calibration",
+ "output_sha256": "36e53d5fd6245f1cc7aadaf10aa736d55eee204a05a418a0a93280e1e4731519",
+ "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": 42.013,
+  "left_eye": 41.807,
+  "left_front": 43.461,
+  "right": 40.668,
+  "right_eye": 42.787,
+  "right_front": 41.234
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   1075467834222,
+   1076467878666,
+   1077467834222,
+   1078467856444,
+   1079467878666,
+   1080467845333,
+   1081467834222,
+   1082467823111,
+   1083467800888,
+   1084467800888,
+   1085467889777,
+   1086467812000,
+   1087467812000,
+   1088467834222,
+   1089467823111,
+   1090467812000,
+   1091467834222,
+   1092467834222,
+   1093467845333,
+   1094467845333,
+   1095467823111,
+   1096467834222,
+   1097467834222,
+   1098467800888,
+   1099467823111,
+   1100467834222,
+   1101467812000,
+   1102467889777,
+   1103467800888
+  ]
+ },
+ "version": 1
+}

actions/dynamic_recovery/DR08/session_008/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5457c8d1f26b26b7b4c17bd9539e5850ca0dde39daca5b59287c5fefc8a1d86a
+size 714673

actions/dynamic_recovery/DR08/session_008/meta.json

@@ -365,8 +365,8 @@
   "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": {
@@ -526,24 +526,132 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 6.61,
+    "offset_rotvec": [
+     -0.0083,
+     -0.088,
+     0.0743
+    ],
+    "dev_deg": {
+     "median": 7.38,
+     "p90": 14.77
+    },
+    "samples": 3491,
+    "accepted": 3447,
+    "wrist_pos_err_mm_median": 46.4,
+    "per_camera": {
+     "head": {
+      "samples": 3491,
+      "accepted": 3447,
+      "gate_deg": 30.0,
+      "offset_deg": 6.61,
+      "tier": "primary",
+      "dev_deg_median": 7.38,
+      "wrist_pos_err_mm_median": 46.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13869,
+     "interpolated": 1002,
+     "mean_hand": 5,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9991,
+    "observed_fraction_of_valid": 0.9997,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 7.26,
+     "smplx": 0.78
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 11.3,
+      "p90": 12.7
+     },
+     "registered": {
+      "median": 13.5,
+      "p90": 14.9
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 5.0,
+    "offset_rotvec": [
+     -0.05,
+     -0.052,
+     -0.0492
+    ],
+    "dev_deg": {
+     "median": 8.7,
+     "p90": 20.45
+    },
+    "samples": 3583,
+    "accepted": 3469,
+    "wrist_pos_err_mm_median": 76.6,
+    "per_camera": {
+     "head": {
+      "samples": 3583,
+      "accepted": 3469,
+      "gate_deg": 30.0,
+      "offset_deg": 5.0,
+      "tier": "primary",
+      "dev_deg_median": 8.7,
+      "wrist_pos_err_mm_median": 76.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13991,
+     "interpolated": 752,
+     "mean_hand": 133,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9905,
+    "observed_fraction_of_valid": 0.9911,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 9.85,
+     "smplx": 0.52
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.1,
+      "p90": 11.2
+     },
+     "registered": {
+      "median": 8.4,
+      "p90": 10.2
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T20:59:32.764288+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/DR08/session_008",
   "family": "dynamic_recovery",
   "primitive": "DR08",
   "source_session": "20261020/DR08/20261020_052349_session4"
  },
+ "task": {
+  "primitive": "DR08",
+  "instruction": "Walk back and forth across the room at a normal pace, looking ahead. There may be something on the floor. Recover however comes naturally and carry on."
+ },
  "objects": [
   {
    "name": "BigBox",
    "object_type": "BigBox",
    "source": "mocap",
    "pose_frame": "mesh"
-  },
-  {
-   "name": "Cushion",
-   "object_type": "Cushion",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
   }
  ]
 }

actions/dynamic_recovery/DR08/session_008/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dba398c9c7d0820d3e17892c3dc3ef357639d9fc30c50a649460c25a692b73bb
+size 4792411

actions/dynamic_recovery/DR08/session_008/motions/objects.json

@@ -1,6 +1,6 @@
 {
  "session": "20261020/DR08/20261020_052349_session4",
- "generated_at_utc": "2026-10-28T10:21:05.571883+00:00",
+ "generated_at_utc": "2026-10-29T12:56:38.628039+00:00",
  "generated_by": "scripts/export_objects.py",
  "frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)",
  "grid": "body grid (smplx.npz t / frame_index)",

actions/dynamic_recovery/DR08/session_008/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:90bf0e739e706e602de298ddd9dd7645aeeb3d2d4e4f604ff6310c3415cc51b2
-size 5718827
+oid sha256:ef8c657801938fa377b5031893c5c08d65270ce4cbba14088d508682454b09a5
+size 10710514