Release update 2026-11-05: 5760 sessions, instructions, annotations (part 30)

.gitattributes

@@ -41237,3 +41237,5 @@ actions/dynamic_recovery/DR13/session_010/raw/sensors/robowrist_imu_left.db filt
 actions/dynamic_recovery/DR13/session_010/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/dynamic_recovery/DR13/session_010/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/dynamic_recovery/DR13/session_010/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR15/session_008/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR15/session_008/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text

actions/dynamic_recovery/DR15/session_006/cameras/gsi_online_calibration.json

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actions/dynamic_recovery/DR15/session_006/cameras/slam.npz

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actions/dynamic_recovery/DR15/session_006/meta.json

@@ -353,8 +353,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -499,48 +499,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
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+  "generated_at_utc": "2026-11-03T17:40:31.162910+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/DR15/session_006",
   "family": "dynamic_recovery",
   "primitive": "DR15",
   "source_session": "20261024/DR15/20261024_052146_session50"
  },
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-   "pose_frame": "rigid_body"
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-   "object_type": "LittleBox",
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-  {
-   "name": "Table",
-   "object_type": "Table",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
-  }
- ]
+ "task": {
+  "primitive": "DR15",
+  "instruction": "Hold the object and walk back and forth. It may slip. Try to catch it if you can, but let it go rather than lurching after it."
+ }
 }

actions/dynamic_recovery/DR15/session_006/motions/hands_mano.npz

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actions/dynamic_recovery/DR15/session_007/annotations.json

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+{
+ "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": "DR15",
+ "instruction": "Hold the object and walk back and forth. It may slip. Try to catch it if you can, but let it go rather than lurching after it.",
+ "segments": [
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+   "id": "segment1",
+   "duration_s": 146.100056,
+   "video": "left_eye",
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+ "episodes": [
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+   "segment": "segment1",
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+   "instruction": "Hold the object and walk back and forth. It may slip. Try to catch it if you can, but let it go rather than lurching after it."
+  },
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+   "instruction": "Hold the object and walk back and forth. It may slip. Try to catch it if you can, but let it go rather than lurching after it."
+  }
+ ]
+}

actions/dynamic_recovery/DR15/session_007/cameras/gsi_online_calibration.json

@@ -0,0 +1,263 @@
+{
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@@ -263,44 +263,44 @@
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@@ -312,20 +312,20 @@
   ],
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@@ -344,7 +344,7 @@
   ]
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+  "generated_at_utc": "2026-10-29T04:12:36.454994+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
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   "hands": {
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    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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@@ -397,8 +397,8 @@
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+     "before": 72.69,
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@@ -433,12 +433,12 @@
      "LHandOut"
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+     "twist_moved_deg": 84.51,
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     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
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@@ -473,7 +473,7 @@
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@@ -492,7 +492,7 @@
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    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
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@@ -532,18 +532,124 @@
   },
   "applied": 1
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+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/dynamic_recovery/DR15/session_007",
   "family": "dynamic_recovery",
   "primitive": "DR15",
   "source_session": "20261026/DR15/20261026_042002_session47"
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-  }
- ]
+ "task": {
+  "primitive": "DR15",
+  "instruction": "Hold the object and walk back and forth. It may slip. Try to catch it if you can, but let it go rather than lurching after it."
+ }
 }

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