Release update 2026-11-05: 5760 sessions, instructions, annotations (part 25)

.gitattributes

@@ -41209,3 +41209,12 @@ actions/dynamic_recovery/DR10/session_009/raw/sensors/robowrist_imu_left.db filt
 actions/dynamic_recovery/DR10/session_009/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/dynamic_recovery/DR10/session_009/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/dynamic_recovery/DR10/session_009/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR11/session_006/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR11/session_006/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR11/session_006/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR11/session_006/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR11/session_006/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR11/session_006/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR11/session_006/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR11/session_006/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/dynamic_recovery/DR11/session_006/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text

actions/dynamic_recovery/DR11/session_005/annotations.json

@@ -0,0 +1,149 @@
+{
+ "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": "DR11",
+ "instruction": "Walk across the floor at a normal pace. It may be more slippery in places. Recover however comes naturally.",
+ "segments": [
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+   "duration_s": 145.900033,
+   "video": "left_eye",
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+  }
+ ],
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+   "end_s": 13.24,
+   "t_start": 2.7382,
+   "t_end": 13.2802,
+   "instruction": "Walk across the floor at a normal pace. It may be more slippery in places. Recover however comes naturally."
+  },
+  {
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+   "instruction": "Walk across the floor at a normal pace. It may be more slippery in places. Recover however comes naturally."
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+   "t_end": 37.0042,
+   "instruction": "Walk across the floor at a normal pace. It may be more slippery in places. Recover however comes naturally."
+  },
+  {
+   "id": "c9dbe01e-c972-4c37-a056-831d49134b4c",
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+   "instruction": "Walk across the floor at a normal pace. It may be more slippery in places. Recover however comes naturally."
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+   "instruction": "Walk across the floor at a normal pace. It may be more slippery in places. Recover however comes naturally."
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+   "instruction": "Walk across the floor at a normal pace. It may be more slippery in places. Recover however comes naturally."
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+   "instruction": "Walk across the floor at a normal pace. It may be more slippery in places. Recover however comes naturally."
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+   "segment": "segment1",
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+   "instruction": "Walk across the floor at a normal pace. It may be more slippery in places. Recover however comes naturally."
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+   "action": "DR11",
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+   "instruction": "Walk across the floor at a normal pace. It may be more slippery in places. Recover however comes naturally."
+  },
+  {
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+   "instruction": "Walk across the floor at a normal pace. It may be more slippery in places. Recover however comes naturally."
+  }
+ ]
+}

actions/dynamic_recovery/DR11/session_005/cameras/gsi_online_calibration.json

@@ -0,0 +1,259 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.361
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
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+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.782,
+   "gate_fail": [],
+   "held_out_px_after": 0.536,
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+   "inliers": 1516,
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+    -0.2161,
+    -1.4623
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+   "split_deg": 0.2607,
+   "usable": true
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+  "left_eye": {
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+   "against": [
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+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+   "inliers": 3139,
+   "position_fitted": true,
+   "position_mm": [
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+    -25.97,
+    -5.96
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+   "rotvec_deg": [
+    1.8211,
+    -0.753,
+    1.2826
+   ],
+   "split_deg": 0.0761,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
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+   "against": [
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+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+   "inliers": 1779,
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+    -1.2009,
+    3.1947
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+   "split_deg": 0.171,
+   "usable": true
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+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 3.0579,
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+    1.916
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+   "rotvec_deg": [
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+    -0.3501,
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+   "split_deg": 0.0838,
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+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "2f6d88ceb6d408f966ced93a40daa1b6a352f683360c4ac7c5d755da4a490a78",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
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+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
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+ "input_fingerprint": "32a6c8ffb914e7ae",
+ "kind": "online_calibration",
+ "output_sha256": "186cc899037db29fbabf420d40042a273b67c35010d963d25726c18c7070db81",
+ "overlap": {
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+  "left_front-right": 0.458,
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+  "right_front-left_eye": 0.697,
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+  "right_front-right_eye": 0.704
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+ "picture_change": {
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+  "left_front": 43.389,
+  "right": 39.77,
+  "right_eye": 35.35,
+  "right_front": 40.856
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+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
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+ "version": 1
+}

actions/dynamic_recovery/DR11/session_005/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4baec203d54b50afc31539145b2fa0a6d8408f773a21e106f0df28134b4dfba7
+size 841318

actions/dynamic_recovery/DR11/session_005/meta.json

@@ -263,44 +263,44 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
  "canonical": {
-  "generated_at_utc": "2026-10-27T06:42:53.944335+00:00",
+  "generated_at_utc": "2026-10-28T23:21:44.955323+00:00",
   "generated_by": "scripts/canonicalise_dataset.py",
   "frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
   "R_canon_nokov": [
    [
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-    0.0116771196,
-    -7.9583e-06
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   "scale_nokov_to_canon": 0.001,
   "T_canon_nokov_mm": [
    [
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-    1.167712e-05,
-    -7.958e-09,
+    0.000999931973,
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     0.0
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     0.0
    ],
    [
@@ -312,20 +312,20 @@
   ],
   "block": "20261026-morning",
   "block_assignment": "trc",
-  "tilt_removed_deg": 0.6736075582400546,
+  "tilt_removed_deg": 0.6697930607742368,
   "plane_status": "ok",
   "floor": {
-   "sole_marker_p1_mm": 32.6,
-   "headtop_p95_mm": 1682.9
+   "sole_marker_p1_mm": 32.8,
+   "headtop_p95_mm": 1682.7
   },
   "gravity_check": {
    "static_samples": 761,
    "g_world_mean_m_s2": [
-    -0.0772,
-    0.0522,
+    -0.0773,
+    0.058,
     9.7711
    ],
-   "tilt_from_z_deg": 0.546,
+   "tilt_from_z_deg": 0.566,
    "tilt_from_z_deg_before_levelling": 1.185,
    "magnitude_m_s2": 9.7716
   },
@@ -344,7 +344,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-27T07:21:06.214736+00:00",
+  "generated_at_utc": "2026-10-29T04:12:36.328491+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -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": {
@@ -397,8 +397,8 @@
   "valid_fraction": 0.9768,
   "qc": {
    "lowest_vertex_mm": {
-    "median": 29.6,
-    "p5": 12.9
+    "median": 30.3,
+    "p5": 12.6
    },
    "frames_checked": 571,
    "stature_mm": 1614.2
@@ -413,19 +413,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 180.0,
+    "Q_deg": 6.16,
     "Q_rotvec": [
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+     -0.06613,
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+     0.02763
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     "in_out_sign": 1,
-    "wrist_bend_deg_median": 176.2,
-    "opposite_sign_bend_deg": 32.7,
+    "wrist_bend_deg_median": 29.6,
+    "opposite_sign_bend_deg": 152.7,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.21,
     "hand_vs_marker_frame_deg": {
-     "before": 179.74,
+     "before": 6.67,
      "after": 2.21
     },
     "markers_on_wrist": [
@@ -433,15 +433,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -174.47,
+     "twist_moved_deg": -25.06,
      "wrist_twist_deg_after": {
-      "median": -2.78,
+      "median": 0.0,
       "iqr": [
-       -5.8,
-       -0.2
+       -3.1,
+       2.6
       ]
      },
-     "wrist_total_deg_median_after": 15.2,
+     "wrist_total_deg_median_after": 15.0,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -452,19 +452,19 @@
    },
    "right": {
     "status": "corrected",
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-     0.0,
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+     0.43858,
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-    "opposite_sign_bend_deg": 176.7,
+    "wrist_bend_deg_median": 51.3,
+    "opposite_sign_bend_deg": 135.6,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 0.89,
     "hand_vs_marker_frame_deg": {
-     "before": 0.89,
+     "before": 25.38,
      "after": 0.89
     },
     "markers_on_wrist": [
@@ -472,7 +472,7 @@
      "RHandOut"
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+     "twist_moved_deg": -50.38,
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       "median": 0.0,
       "iqr": [
@@ -490,22 +490,128 @@
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    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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  "release": {
   "release_path": "actions/dynamic_recovery/DR11/session_005",
   "family": "dynamic_recovery",
   "primitive": "DR11",
   "source_session": "20261026/DR11/20261026_040847_session45"
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-   "name": "Cushion",
-   "object_type": "Cushion",
-   "source": "mocap",
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- ]
+ "task": {
+  "primitive": "DR11",
+  "instruction": "Walk across the floor at a normal pace. It may be more slippery in places. Recover however comes naturally."
+ }
 }

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+    "wrist_bend_deg_median": 17.1,
+    "opposite_sign_bend_deg": 170.1,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 1.38,
+    "hand_vs_marker_frame_deg": {
+     "before": 16.14,
+     "after": 1.38
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -6.05,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -6.7,
+       3.0
+      ]
+     },
+     "wrist_total_deg_median_after": 15.8,
+     "markers_on_forearm": [
+      "LElbowIn",
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 52.05,
+    "Q_rotvec": [
+     0.73044,
+     0.50232,
+     -0.19812
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 44.0,
+    "opposite_sign_bend_deg": 145.6,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 1.15,
+    "hand_vs_marker_frame_deg": {
+     "before": 51.95,
+     "after": 1.15
+    },
+    "markers_on_wrist": [
+     "RWristOut",
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -39.83,
+     "wrist_twist_deg_after": {
+      "median": -0.0,
+      "iqr": [
+       -1.4,
+       1.7
+      ]
+     },
+     "wrist_total_deg_median_after": 18.9,
+     "markers_on_forearm": [
+      "RElbowIn",
+      "RForearm",
+      "RWristIn"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-11-03T10:35:54.888719+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/dynamic_recovery/DR11/session_007",
+  "family": "dynamic_recovery",
+  "primitive": "DR11",
+  "source_session": "20261030/DR11/20261030_053436_session69"
+ },
+ "task": {
+  "primitive": "DR11",
+  "instruction": "Walk across the floor at a normal pace. It may be more slippery in places. Recover however comes naturally."
+ },
+ "objects": [
+  {
+   "name": "Cushion",
+   "object_type": "Cushion",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
+}

actions/dynamic_recovery/DR11/session_007/motions/head_rig.npz

@@ -0,0 +1,3 @@
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+oid sha256:c2fb02926b1354deba77d40c13c504071b1dbfe6e4fa258edf167bb2937dddad
+size 1262961