Release update 2026-11-05: 5760 sessions, instructions, annotations (part 21)

actions/dynamic_recovery/DR09/session_011/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": 129.900022,
+   "video": "left_eye",
+   "video_t_start": 0.03961325012032352
+  }
+ ],
+ "episodes": [
+  {
+   "id": "c306767d-d17d-4d55-be78-60eb3c1c9b07",
+   "segment": "segment1",
+   "action": "DR09",
+   "quality": "valid",
+   "start_s": 2.221,
+   "end_s": 67.691,
+   "t_start": 2.2606,
+   "t_end": 67.7306,
+   "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": "e8e0504e-4ee7-4c7c-baa3-678827077297",
+   "segment": "segment1",
+   "action": "DR09",
+   "quality": "valid",
+   "start_s": 67.691,
+   "end_s": 122.59,
+   "t_start": 67.7306,
+   "t_end": 122.6296,
+   "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_011/cameras/gsi_online_calibration.json

@@ -0,0 +1,255 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.367
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.6083,
+   "gate_fail": [],
+   "held_out_px_after": 0.449,
+   "held_out_px_before": 20.026,
+   "inliers": 1478,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.2134,
+    -0.1634,
+    -1.0428
+   ],
+   "split_deg": 0.0756,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.5539,
+   "gate_fail": [],
+   "held_out_px_after": 0.466,
+   "held_out_px_before": 6.155,
+   "inliers": 3110,
+   "position_fitted": true,
+   "position_mm": [
+    4.08,
+    -28.56,
+    -8.09
+   ],
+   "position_sigma_mm": 0.336,
+   "position_split_mm": 2.307,
+   "rotvec_deg": [
+    1.8066,
+    -0.8513,
+    1.5919
+   ],
+   "split_deg": 0.0482,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.794,
+   "gate_fail": [],
+   "held_out_px_after": 0.443,
+   "held_out_px_before": 10.859,
+   "inliers": 1718,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.8,
+    -1.234,
+    3.1035
+   ],
+   "split_deg": 0.016,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 3.3562,
+   "gate_fail": [],
+   "held_out_px_after": 0.463,
+   "held_out_px_before": 5.788,
+   "inliers": 2835,
+   "position_fitted": true,
+   "position_mm": [
+    3.94,
+    -12.46,
+    -5.03
+   ],
+   "position_sigma_mm": 0.354,
+   "position_split_mm": 1.25,
+   "rotvec_deg": [
+    2.1179,
+    -1.1908,
+    2.3152
+   ],
+   "split_deg": 0.0293,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.401,
+   "gate_fail": [],
+   "held_out_px_after": 0.315,
+   "held_out_px_before": 2.126,
+   "inliers": 4381,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2442,
+    -0.3156,
+    -0.04
+   ],
+   "split_deg": 0.0096,
+   "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": "9ef8bfd9f2edcd5b435f0e50a2f3fe16da2ad346f6f5c59cfafffcbc53782b0b",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "062d338c2c8978867a164ea18e02791bd6add107f7f825841537ec55a361fbcf",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "5cad1c1b6156022acbe188a10dec66a0ba30d3cadffb22f3b167e7ba89709f8e",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "c6bd145dd0a99e784f80db9786f66102b98476a5564ff2f0005436d3f4a60c37",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "045e2d08f690b54a",
+ "kind": "online_calibration",
+ "output_sha256": "de57f12110eb6497fa8189dcc84cd99fda6015d697018a4b09c4eb010e9f382a",
+ "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": 39.575,
+  "left_eye": 39.756,
+  "left_front": 47.401,
+  "right": 39.146,
+  "right_eye": 39.036,
+  "right_front": 46.379
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   1227762285222,
+   1228762274111,
+   1232762307444,
+   1233762385222,
+   1238762307444,
+   1239762363000,
+   1241762285222,
+   1242762307444,
+   1246762307444,
+   1247762274111,
+   1250762418555,
+   1251762385222,
+   1254762307444,
+   1255762463000,
+   1257762285222,
+   1258762329666,
+   1262762285222,
+   1263762307444,
+   1266762307444,
+   1267762363000,
+   1268762429666,
+   1273762351888,
+   1274762429666,
+   1276762385222,
+   1277762418555,
+   1281762496333,
+   1282762351888,
+   1286762274111,
+   1287762307444,
+   1289762285222,
+   1290762285222,
+   1292762307444,
+   1293762385222,
+   1294762285222,
+   1295762307444,
+   1298762318555,
+   1299762340777,
+   1305762285222,
+   1306762307444,
+   1307762285222,
+   1311762285222,
+   1312762418555,
+   1317762307444,
+   1318762307444,
+   1319762285222,
+   1320762307444,
+   1325762274111,
+   1326762351888,
+   1327762285222,
+   1333762296333,
+   1334762429666,
+   1335762363000,
+   1339762318555,
+   1340762351888,
+   1342762274111,
+   1343762307444
+  ]
+ },
+ "version": 1
+}

actions/dynamic_recovery/DR09/session_011/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:956d853f31e728b14437c447f0f10d58372062b8716a4c4d1268ec8f4c3335f9
+size 748347

actions/dynamic_recovery/DR09/session_011/meta.json

@@ -354,8 +354,8 @@
   "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": {
@@ -509,24 +509,132 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 6.89,
+    "offset_rotvec": [
+     0.0082,
+     -0.0915,
+     0.0776
+    ],
+    "dev_deg": {
+     "median": 7.42,
+     "p90": 14.38
+    },
+    "samples": 3725,
+    "accepted": 3687,
+    "wrist_pos_err_mm_median": 50.7,
+    "per_camera": {
+     "head": {
+      "samples": 3725,
+      "accepted": 3687,
+      "gate_deg": 30.0,
+      "offset_deg": 6.89,
+      "tier": "primary",
+      "dev_deg_median": 7.42,
+      "wrist_pos_err_mm_median": 50.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14819,
+     "interpolated": 764,
+     "mean_hand": 5,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9992,
+    "observed_fraction_of_valid": 0.9997,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 7.41,
+     "smplx": 0.64
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.5,
+      "p90": 9.7
+     },
+     "registered": {
+      "median": 8.3,
+      "p90": 9.8
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 6.37,
+    "offset_rotvec": [
+     -0.0699,
+     -0.0549,
+     -0.0667
+    ],
+    "dev_deg": {
+     "median": 10.0,
+     "p90": 21.83
+    },
+    "samples": 3695,
+    "accepted": 3544,
+    "wrist_pos_err_mm_median": 132.3,
+    "per_camera": {
+     "head": {
+      "samples": 3695,
+      "accepted": 3544,
+      "gate_deg": 30.0,
+      "offset_deg": 6.37,
+      "tier": "primary",
+      "dev_deg_median": 10.0,
+      "wrist_pos_err_mm_median": 132.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14333,
+     "interpolated": 1250,
+     "mean_hand": 5,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9992,
+    "observed_fraction_of_valid": 0.9997,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 10.04,
+     "smplx": 0.59
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.8,
+      "p90": 12.2
+     },
+     "registered": {
+      "median": 8.6,
+      "p90": 11.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T20:57:59.007814+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_011",
   "family": "dynamic_recovery",
   "primitive": "DR09",
   "source_session": "20261020/DR09/20261020_052621_session5"
  },
+ "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",
    "object_type": "BigBox",
    "source": "mocap",
    "pose_frame": "mesh"
-  },
-  {
-   "name": "Cushion",
-   "object_type": "Cushion",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
   }
  ]
 }

actions/dynamic_recovery/DR09/session_011/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1bb56d668a4f699f346ad179c7f01b4bcaf5bd2245e075fae69bcf9cbb2dbf8
+size 5028652

actions/dynamic_recovery/DR09/session_011/motions/objects.json

@@ -1,6 +1,6 @@
 {
  "session": "20261020/DR09/20261020_052621_session5",
- "generated_at_utc": "2026-10-28T10:22:24.413471+00:00",
+ "generated_at_utc": "2026-10-29T12:56:41.543118+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/DR09/session_011/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:627c2f0ad5e8b41e448ac404d290200a48530015aa34028c91a43eb2d2e59192
-size 5967471
+oid sha256:6275125b9e8d46aa0f12abc75559f6bfd445e6a81de557838754e5fdeff8338a
+size 11208246

actions/dynamic_recovery/DR09/session_012/cameras/gsi_online_calibration.json

@@ -0,0 +1,246 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.324
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.6554,
+   "gate_fail": [],
+   "held_out_px_after": 0.446,
+   "held_out_px_before": 20.971,
+   "inliers": 1286,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.1647,
+    -0.174,
+    -1.1635
+   ],
+   "split_deg": 0.0835,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.3477,
+   "gate_fail": [],
+   "held_out_px_after": 0.366,
+   "held_out_px_before": 8.535,
+   "inliers": 2257,
+   "position_fitted": true,
+   "position_mm": [
+    3.75,
+    -26.74,
+    -5.55
+   ],
+   "position_sigma_mm": 0.37,
+   "position_split_mm": 5.633,
+   "rotvec_deg": [
+    1.7798,
+    -0.7286,
+    1.3465
+   ],
+   "split_deg": 0.1152,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.3672,
+   "gate_fail": [],
+   "held_out_px_after": 0.463,
+   "held_out_px_before": 10.917,
+   "inliers": 1393,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.622,
+    -1.1511,
+    2.717
+   ],
+   "split_deg": 0.12,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 3.0046,
+   "gate_fail": [],
+   "held_out_px_after": 0.358,
+   "held_out_px_before": 6.321,
+   "inliers": 2350,
+   "position_fitted": true,
+   "position_mm": [
+    3.46,
+    -15.57,
+    -4.29
+   ],
+   "position_sigma_mm": 0.356,
+   "position_split_mm": 2.964,
+   "rotvec_deg": [
+    1.9111,
+    -1.4031,
+    1.8458
+   ],
+   "split_deg": 0.0315,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.501,
+   "gate_fail": [],
+   "held_out_px_after": 0.292,
+   "held_out_px_before": 1.922,
+   "inliers": 4499,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2115,
+    -0.363,
+    -0.273
+   ],
+   "split_deg": 0.0033,
+   "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": "3c2eb00bf5b7749a7e74144fa1b69c4760ee02f844c5dcabd42efa031a5f099f",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "3ef08321c1f0a61f4f69d3fc65f7a8fecc473414b65e7aae7d0db6ff30d8ba40",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "858751605316829363c1f54724242d35a52209714678fdaa3e62dc7f4a49256c",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "458b08e080d7ed9e477c3490747e0a9ad9dbca6328df65b750d6dc2a4b55dc30",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "9beb070619d40a45",
+ "kind": "online_calibration",
+ "output_sha256": "3a8c974cd8ebdad61c09cb921e27fae125eed9ad6cafc14577051811ebeaf257",
+ "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": 41.734,
+  "left_eye": 38.561,
+  "left_front": 48.386,
+  "right": 41.189,
+  "right_eye": 39.313,
+  "right_front": 47.179
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   4652389068777,
+   4653389279888,
+   4655389102111,
+   4656389068777,
+   4657389213222,
+   4658389091000,
+   4659389091000,
+   4660389091000,
+   4661389102111,
+   4662389057666,
+   4664389235444,
+   4665389102111,
+   4666389102111,
+   4667389202111,
+   4668389068777,
+   4669389135444,
+   4670389091000,
+   4671389068777,
+   4672389224333,
+   4673389091000,
+   4674389079888,
+   4675389091000,
+   4676389068777,
+   4678389057666,
+   4679389068777,
+   4680389202111,
+   4681389068777,
+   4682389224333,
+   4683389079888,
+   4684389068777,
+   4685389091000,
+   4686389224333,
+   4687389202111,
+   4688389091000,
+   4690389068777,
+   4691389068777,
+   4692389102111,
+   4693389102111,
+   4694389113222,
+   4695389213222,
+   4697389091000,
+   4698389068777,
+   4699389068777,
+   4700389135444,
+   4702389091000,
+   4703389224333,
+   4704389102111
+  ]
+ },
+ "version": 1
+}

actions/dynamic_recovery/DR09/session_012/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:847b20ff7ea6065b188c9aa0b2a48aa86c181db7aba6291c8b4dd596d9f0feee
+size 741480

actions/dynamic_recovery/DR09/session_012/meta.json

@@ -511,42 +511,16 @@
   "primitive": "DR09",
   "source_session": "20261021/DR09/20261021_115359_session16"
  },
+ "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": "ArmlessChair",
-   "object_type": "ArmlessChair",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
-  },
   {
    "name": "BigBox2",
    "object_type": "BigBox",
    "source": "mocap",
    "pose_frame": "rigid_body"
-  },
-  {
-   "name": "LittleBox5",
-   "object_type": "LittleBox",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
-  },
-  {
-   "name": "LittleBox6",
-   "object_type": "LittleBox",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
-  },
-  {
-   "name": "Table2",
-   "object_type": "Table",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
-  },
-  {
-   "name": "Desk",
-   "object_type": "Desk",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
   }
  ]
 }

actions/dynamic_recovery/DR09/session_012/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33211d6c7a31f6c7be064916b229169db66fa0526ad20a6124f92b185ee81871
+size 2608830

actions/dynamic_recovery/DR09/session_012/motions/objects.json

@@ -1,6 +1,6 @@
 {
  "session": "20261021/DR09/20261021_115359_session16",
- "generated_at_utc": "2026-10-28T10:35:26.611029+00:00",
+ "generated_at_utc": "2026-10-29T13:03:10.079590+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/DR09/session_013/cameras/gsi_online_calibration.json

@@ -0,0 +1,259 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.387
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 2.4683,
+   "gate_fail": [],
+   "held_out_px_after": 0.543,
+   "held_out_px_before": 10.37,
+   "inliers": 1717,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.1138,
+    -1.2268,
+    0.3458
+   ],
+   "split_deg": 0.0524,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.8501,
+   "gate_fail": [],
+   "held_out_px_after": 0.496,
+   "held_out_px_before": 3.532,
+   "inliers": 1820,
+   "position_fitted": true,
+   "position_mm": [
+    2.86,
+    -13.86,
+    3.06
+   ],
+   "position_sigma_mm": 0.263,
+   "position_split_mm": 2.54,
+   "rotvec_deg": [
+    -0.0192,
+    -0.1436,
+    0.8377
+   ],
+   "split_deg": 0.0659,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 4.0898,
+   "gate_fail": [],
+   "held_out_px_after": 0.573,
+   "held_out_px_before": 10.967,
+   "inliers": 1532,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.4658,
+    -0.8795,
+    3.1421
+   ],
+   "split_deg": 0.0731,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9831,
+   "gate_fail": [],
+   "held_out_px_after": 0.357,
+   "held_out_px_before": 5.181,
+   "inliers": 2607,
+   "position_fitted": true,
+   "position_mm": [
+    3.28,
+    -12.78,
+    2.88
+   ],
+   "position_sigma_mm": 0.314,
+   "position_split_mm": 1.675,
+   "rotvec_deg": [
+    0.3893,
+    -0.8658,
+    1.7412
+   ],
+   "split_deg": 0.044,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.8345,
+   "gate_fail": [],
+   "held_out_px_after": 0.333,
+   "held_out_px_before": 5.189,
+   "inliers": 4579,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.7175,
+    -0.2278,
+    -0.3601
+   ],
+   "split_deg": 0.0068,
+   "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": "45825cd829be261c70bc4087d5526ce47f54fb926855bfd67f87edd11808e8bd",
+   "source_sha256": "2bf43346f9825da1c051096d46ceb924252959c0c3fed4ac9c166c6096121ae0"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "8343e08487461ce027f11db2b4eac3416be650de76ab852ebbe42ed514642f88",
+   "source_sha256": "b80f390816142bc598f6a58e17810083d07270f17802c79b0d33dade12e1a7ed"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "12d2f863fb306b3acb0c0c3732bbe85eb4d4b92dc9d148a7daa4cb89add2c8d9",
+   "source_sha256": "55ee2a9af25410709c73762b726e1a41e5450b277090a5256571601dd5fd719b"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "65626739003a3aa1093d37ecced7df83c279235feca9e5fd295f8ef9f952a62c",
+   "source_sha256": "b2fcef709086e19cb082ae12586aebd1a6fa9a92db90015c1c5a641f4588dfc7"
+  }
+ },
+ "input_fingerprint": "9796055e3574c2d4",
+ "kind": "online_calibration",
+ "output_sha256": "c8379bb6e7047237bec3ee1b216e9ee78e1a35a78357fd19c1e250ff3796440c",
+ "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": 37.926,
+  "left_eye": 33.118,
+  "left_front": 37.325,
+  "right": 43.916,
+  "right_eye": 32.146,
+  "right_front": 37.35
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   1890428853000,
+   1891428864111,
+   1898428853000,
+   1899428853000,
+   1900428853000,
+   1906428853000,
+   1907428853000,
+   1908428853000,
+   1909428919666,
+   1916428853000,
+   1917428997444,
+   1918428853000,
+   1921428864111,
+   1922428997444,
+   1928428864111,
+   1929428853000,
+   1932428875222,
+   1933428864111,
+   1935428864111,
+   1936428886333,
+   1941428853000,
+   1942428930777,
+   1943428897444,
+   1944428864111,
+   1949428875222,
+   1950428875222,
+   1955428930777,
+   1956428864111,
+   1958428875222,
+   1959428853000,
+   1963428919666,
+   1964428886333,
+   1965428930777,
+   1966428853000,
+   1970428864111,
+   1971428930777,
+   1978428853000,
+   1979428853000,
+   1982428886333,
+   1983428853000,
+   1985428886333,
+   1986428853000,
+   1991428853000,
+   1992428853000,
+   1995428875222,
+   1996428997444,
+   1998428930777,
+   1999428875222,
+   2003428864111,
+   2004428997444,
+   2008428997444,
+   2009428853000,
+   2010428919666,
+   2011428853000,
+   2017428886333,
+   2018428897444,
+   2020428875222,
+   2021428875222
+  ]
+ },
+ "version": 1
+}

actions/dynamic_recovery/DR09/session_013/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efd6b4e2e1e0ba12a682c23962e31514768124cf06e4a0859a5c6aa0d4e8ef9f
+size 776199

actions/dynamic_recovery/DR09/session_013/meta.json

@@ -372,8 +372,8 @@
   "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": {
@@ -512,12 +512,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 24.37,
+    "offset_rotvec": [
+     0.4132,
+     -0.0983,
+     -0.0241
+    ],
+    "dev_deg": {
+     "median": 19.0,
+     "p90": 163.75
+    },
+    "samples": 2128,
+    "accepted": 1631,
+    "wrist_pos_err_mm_median": 182.9,
+    "per_camera": {
+     "head": {
+      "samples": 2128,
+      "accepted": 1631,
+      "gate_deg": 30.0,
+      "offset_deg": 24.37,
+      "tier": "primary",
+      "dev_deg_median": 19.0,
+      "wrist_pos_err_mm_median": 182.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 6674,
+     "interpolated": 2746,
+     "mean_hand": 6784,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.5813,
+    "observed_fraction_of_valid": 0.5813,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 27.02,
+     "smplx": 2.5
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.6,
+      "p90": 9.5
+     },
+     "registered": {
+      "median": 7.4,
+      "p90": 8.8
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 15.22,
+    "offset_rotvec": [
+     0.0745,
+     -0.0008,
+     0.255
+    ],
+    "dev_deg": {
+     "median": 15.64,
+     "p90": 30.09
+    },
+    "samples": 2293,
+    "accepted": 2063,
+    "wrist_pos_err_mm_median": 338.0,
+    "per_camera": {
+     "head": {
+      "samples": 2293,
+      "accepted": 2063,
+      "gate_deg": 30.0,
+      "offset_deg": 15.22,
+      "tier": "primary",
+      "dev_deg_median": 15.64,
+      "wrist_pos_err_mm_median": 338.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 8366,
+     "interpolated": 1934,
+     "mean_hand": 5904,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.6356,
+    "observed_fraction_of_valid": 0.6356,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 17.32,
+     "smplx": 0.85
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 17.4,
+      "p90": 27.4
+     },
+     "registered": {
+      "median": 17.1,
+      "p90": 26.9
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T18:26:57.834905+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_013",
   "family": "dynamic_recovery",
   "primitive": "DR09",
   "source_session": "20261022/DR09/20261022_101133_session11"
  },
+ "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": "CcYellow",

actions/dynamic_recovery/DR09/session_013/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfa9ed9c11df2a976ce4be0f62523343f605d31974846b9e2b4eb2e2f17d3cb9
+size 3100052

actions/dynamic_recovery/DR09/session_013/motions/objects.json

@@ -1,6 +1,6 @@
 {
  "session": "20261022/DR09/20261022_101133_session11",
- "generated_at_utc": "2026-10-28T10:50:06.407979+00:00",
+ "generated_at_utc": "2026-10-29T13:11:48.933819+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/DR09/session_013/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:dfc3d8c602760d49734e9c6ca114527676bb7fa38ac94980bd841d9e0d19beb3
-size 6222697
+oid sha256:0ecb118f8b9dc59d9d608c60298621e244b97919fe1ca3afeee8acdd2513ac76
+size 9819027