Release update 2026-11-05: 5760 sessions, instructions, annotations (part 22)

.gitattributes

@@ -41182,3 +41182,12 @@ actions/dynamic_recovery/DR06/session_009/raw/sensors/robowrist_imu_left.db filt
 actions/dynamic_recovery/DR06/session_009/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/dynamic_recovery/DR06/session_009/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/dynamic_recovery/DR06/session_009/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR09/session_014/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR09/session_014/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR09/session_014/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR09/session_014/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR09/session_014/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR09/session_014/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR09/session_014/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR09/session_014/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR09/session_014/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/dynamic_recovery/DR09/session_014/cameras/poses.npz

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actions/dynamic_recovery/DR09/session_014/meta.json

@@ -0,0 +1,521 @@
+{
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+ "session_id": "20261030_032705_session35",
+ "primitive": "DR09",
+ "batch": "20261030",
+ "participant": "huruoxuan",
+ "participant_source": "manifest",
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+  "date": "2026-10-21"
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+  "file": "derived/rig_tracker_provider/rig_tracker.json",
+  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
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+  "camera_pose_source": "T_tracker0_imu0 @ inv(T_cam_imu)",
+  "files": [
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+   "tracker0_zup.npz",
+   "rig_zup.npz",
+   "cameras_zup.npz"
+  ]
+ },
+ "smplx": {
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+  "generated_by": "scripts/fit_smplx_dataset.py",
+  "file": "smplx.npz",
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+  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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+   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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+   "p95_frame": 8.23
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+  "worst_markers": [
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+   "LWristOut 9mm",
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+  "surface_term": {
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+   "markers_on_surface": 52,
+   "surface_rmse_mm_median": 12.66
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+     "markers_on_forearm": [
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+   "generated_at_utc": "2026-11-03T10:33:09.807911+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/dynamic_recovery/DR09/session_014",
+  "family": "dynamic_recovery",
+  "primitive": "DR09",
+  "source_session": "20261030/DR09/20261030_032705_session35"
+ },
+ "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": "BigBox2",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
+}

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actions/dynamic_recovery/DR09/session_014/motions/object_markers.npz

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actions/dynamic_recovery/DR09/session_014/motions/objects.json

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+{
+ "session": "20261030/DR09/20261030_032705_session35",
+ "generated_at_utc": "2026-11-04T20:48:41.400938+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)",
+ "held_by": "from mocap hands",
+ "instances": [
+  {
+   "name": "BigBox2",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 99.99,
+   "verified_pct": 99.99,
+   "moving_pct": 5.07,
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+  }
+ ],
+ "absent": [],
+ "object_list": {
+  "status": "match",
+  "notes": [],
+  "declared": [
+   "BigBox2"
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+  "listed": [
+   {
+    "name": "BigBox2",
+    "object": "BigBox",
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

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  }
 }

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+  }
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+}

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actions/dynamic_recovery/DR10/session_002/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a205801876d4a2c114036349d342b7477f0d0830677973bdbbfdef57a6903a8b
+size 747070

actions/dynamic_recovery/DR10/session_002/meta.json

@@ -331,8 +331,8 @@
   "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": {
@@ -525,10 +525,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.213286237233967
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
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+    "offset_rotvec": [
+     0.0074,
+     -0.0619,
+     -0.0517
+    ],
+    "dev_deg": {
+     "median": 10.23,
+     "p90": 29.27
+    },
+    "samples": 3353,
+    "accepted": 3037,
+    "wrist_pos_err_mm_median": 83.6,
+    "per_camera": {
+     "head": {
+      "samples": 3353,
+      "accepted": 3037,
+      "gate_deg": 30.0,
+      "offset_deg": 4.64,
+      "tier": "primary",
+      "dev_deg_median": 10.23,
+      "wrist_pos_err_mm_median": 83.6
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 3120,
+     "mean_hand": 148,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9905,
+    "observed_fraction_of_valid": 0.9905,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 8.22,
+     "smplx": 0.38
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.1,
+      "p90": 18.1
+     },
+     "registered": {
+      "median": 9.2,
+      "p90": 17.4
+     }
+    }
+   },
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+    "offset_rotvec": [
+     -0.1125,
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+     -0.0727
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+     "p90": 19.1
+    },
+    "samples": 3438,
+    "accepted": 3298,
+    "wrist_pos_err_mm_median": 64.7,
+    "per_camera": {
+     "head": {
+      "samples": 3438,
+      "accepted": 3298,
+      "gate_deg": 30.0,
+      "offset_deg": 11.29,
+      "tier": "primary",
+      "dev_deg_median": 7.99,
+      "wrist_pos_err_mm_median": 64.7
+     }
+    },
+    "frames_by_state": {
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+     "no_body_fit": 0
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+    "observed_fraction": 0.9531,
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+     "smplx": 0.35
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 16.0
+     },
+     "registered": {
+      "median": 12.9,
+      "p90": 15.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T23:00:43.957913+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/DR10/session_002",
   "family": "dynamic_recovery",
   "primitive": "DR10",
   "source_session": "20260918/DR10/20260918_082125_session54"
+ },
+ "task": {
+  "primitive": "DR10",
+  "instruction": "Walk across the mats at a normal pace. They may not all feel the same underfoot. Carry on afterwards."
  }
 }