Release update 2026-11-05: 5760 sessions, instructions, annotations (part 19)

actions/dynamic_recovery/DR09/session_002/annotations.json

@@ -0,0 +1,28 @@
+{
+ "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": [
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+   "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_002/cameras/slam.npz

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actions/dynamic_recovery/DR09/session_002/meta.json

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   "family": "dynamic_recovery",
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   "source_session": "20260914/DR09/20260914_061007_session92"
+ },
+ "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."
  }
 }

actions/dynamic_recovery/DR09/session_002/motions/hands_mano.npz

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actions/dynamic_recovery/DR09/session_003/annotations.json

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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": "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.",
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+   "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_003/cameras/gsi_online_calibration.json

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actions/dynamic_recovery/DR09/session_003/cameras/slam.npz

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actions/dynamic_recovery/DR09/session_003/meta.json

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+  "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."
  }
 }

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actions/dynamic_recovery/DR09/session_004/annotations.json

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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",
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+ "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.",
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+  }
+ ]
+}

actions/dynamic_recovery/DR09/session_004/cameras/gsi_online_calibration.json

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     "left": {
@@ -535,12 +535,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 31.01,
+    "offset_rotvec": [
+     0.4183,
+     -0.2343,
+     0.2512
+    ],
+    "dev_deg": {
+     "median": 11.34,
+     "p90": 26.22
+    },
+    "samples": 2542,
+    "accepted": 2369,
+    "wrist_pos_err_mm_median": 69.4,
+    "per_camera": {
+     "head": {
+      "samples": 2542,
+      "accepted": 2369,
+      "gate_deg": 30.0,
+      "offset_deg": 31.01,
+      "tier": "primary",
+      "dev_deg_median": 11.34,
+      "wrist_pos_err_mm_median": 69.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9740,
+     "interpolated": 3372,
+     "mean_hand": 688,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9501,
+    "observed_fraction_of_valid": 0.9501,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 25.17,
+     "smplx": 1.31
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.6,
+      "p90": 13.9
+     },
+     "registered": {
+      "median": 10.0,
+      "p90": 13.0
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 23.12,
+    "offset_rotvec": [
+     0.3551,
+     -0.1853,
+     0.0491
+    ],
+    "dev_deg": {
+     "median": 14.79,
+     "p90": 31.39
+    },
+    "samples": 2563,
+    "accepted": 2264,
+    "wrist_pos_err_mm_median": 69.7,
+    "per_camera": {
+     "head": {
+      "samples": 2563,
+      "accepted": 2264,
+      "gate_deg": 30.0,
+      "offset_deg": 23.12,
+      "tier": "primary",
+      "dev_deg_median": 14.79,
+      "wrist_pos_err_mm_median": 69.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9336,
+     "interpolated": 3532,
+     "mean_hand": 932,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9325,
+    "observed_fraction_of_valid": 0.9325,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 26.16,
+     "smplx": 1.56
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 16.2,
+      "p90": 27.3
+     },
+     "registered": {
+      "median": 15.9,
+      "p90": 26.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:49:22.115162+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_007",
   "family": "dynamic_recovery",
   "primitive": "DR09",
   "source_session": "20261016/DR09/20261016_042146_session64"
  },
+ "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",

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