Release update 2026-11-05: new sessions, instructions, annotations (part 46)

.gitattributes

@@ -48594,3 +48594,12 @@ actions/locomotion_posture_dynamics/D40/session_013/raw/sensors/robowrist_imu_le
 actions/locomotion_posture_dynamics/D40/session_013/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomotion_posture_dynamics/D40/session_013/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/locomotion_posture_dynamics/D40/session_013/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_posture_dynamics/D60/session_009/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_posture_dynamics/D60/session_009/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_posture_dynamics/D60/session_009/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_posture_dynamics/D60/session_009/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_posture_dynamics/D60/session_009/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_posture_dynamics/D60/session_009/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_posture_dynamics/D60/session_009/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_posture_dynamics/D60/session_009/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_posture_dynamics/D60/session_009/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/locomotion_posture_dynamics/D58/session_004/meta.json

@@ -329,8 +329,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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@@ -509,10 +509,113 @@
   "generated_by": "scripts/correct_processed_rig.py",
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+  "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",
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+ },
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   "family": "locomotion_posture_dynamics",
   "primitive": "D58",
   "source_session": "20260919/D58/20260919_090814_session152"
+ },
+ "task": {
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+  "instruction": "Keeping your feet still and facing forward, bend your upper body sideways to one side, return upright, then bend to the other side. Reach the arm overhead as you bend. Repeat the movement at your own pace until the operator says stop; do not rush."
  }
 }

actions/locomotion_posture_dynamics/D58/session_004/motions/hands_mano.npz

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actions/locomotion_posture_dynamics/D58/session_005/annotations.json

@@ -0,0 +1,39 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "D58",
+ "instruction": "Keeping your feet still and facing forward, bend your upper body sideways to one side, return upright, then bend to the other side. Reach the arm overhead as you bend. Repeat the movement at your own pace until the operator says stop; do not rush.",
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+   "instruction": "Keeping your feet still and facing forward, bend your upper body sideways to one side, return upright, then bend to the other side. Reach the arm overhead as you bend. Repeat the movement at your own pace until the operator says stop; do not rush."
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+   "instruction": "Keeping your feet still and facing forward, bend your upper body sideways to one side, return upright, then bend to the other side. Reach the arm overhead as you bend. Repeat the movement at your own pace until the operator says stop; do not rush."
+  }
+ ]
+}

actions/locomotion_posture_dynamics/D58/session_005/cameras/gsi_online_calibration.json

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actions/locomotion_posture_dynamics/D58/session_005/cameras/slam.npz

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actions/locomotion_posture_dynamics/D58/session_005/meta.json

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   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
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   "family": "locomotion_posture_dynamics",
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   "source_session": "20260920/D58/20260920_074936_session71"
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+ "task": {
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+  "instruction": "Keeping your feet still and facing forward, bend your upper body sideways to one side, return upright, then bend to the other side. Reach the arm overhead as you bend. Repeat the movement at your own pace until the operator says stop; do not rush."
  }
 }

actions/locomotion_posture_dynamics/D58/session_005/motions/hands_mano.npz

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 }

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+  }
+ ]
+}

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+ ]
+}

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  }
 }

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+}

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+ ]
+}

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@@ -382,8 +382,8 @@
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   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
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-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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+   "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",
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     "left": {
@@ -527,10 +527,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
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   "family": "locomotion_posture_dynamics",
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  }
 }

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+ "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": "D58",
+ "instruction": "Keeping your feet still and facing forward, bend your upper body sideways to one side, return upright, then bend to the other side. Reach the arm overhead as you bend. Repeat the movement at your own pace until the operator says stop; do not rush.",
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+  }
+ ]
+}