Release update 2026-11-05: 5760 sessions, instructions, annotations (part 5)

actions/dynamic_recovery/DR02/session_012/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": "DR02",
+ "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. Repeat at your own pace until the operator says stop. Go slowly and only as far as you are comfortable. Step whenever you need to; do not try to hold on longer than feels safe.",
+ "segments": [
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+   "id": "segment1",
+   "duration_s": 133.966633,
+   "video": "left_eye",
+   "video_t_start": 0.03913153292429561
+  }
+ ],
+ "episodes": [
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+   "segment": "segment1",
+   "action": "DR02",
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+   "t_start": 0.0391,
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+   "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. Repeat at your own pace until the operator says stop. Go slowly and only as far as you are comfortable. Step whenever you need to; do not try to hold on longer than feels safe."
+  },
+  {
+   "id": "dd13dae6-2c8d-43af-ba9d-eecf10fa0f7e",
+   "segment": "segment1",
+   "action": "DR02",
+   "quality": "valid",
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+   "end_s": 127.487,
+   "t_start": 66.7881,
+   "t_end": 127.5261,
+   "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. Repeat at your own pace until the operator says stop. Go slowly and only as far as you are comfortable. Step whenever you need to; do not try to hold on longer than feels safe."
+  }
+ ]
+}

actions/dynamic_recovery/DR02/session_012/cameras/slam.npz

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actions/dynamic_recovery/DR02/session_012/meta.json

@@ -325,8 +325,8 @@
   "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": {
@@ -506,10 +506,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.6731994887548067
  },
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+     "p90": 49.23
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+    "accepted": 1661,
+    "wrist_pos_err_mm_median": 155.3,
+    "per_camera": {
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+      "tier": "primary",
+      "dev_deg_median": 27.81,
+      "wrist_pos_err_mm_median": 155.3
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+     "mean_hand": 3553,
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+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:26:47.486243+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/DR02/session_012",
   "family": "dynamic_recovery",
   "primitive": "DR02",
   "source_session": "20260929/DR02/20260929_075801_session137"
+ },
+ "task": {
+  "primitive": "DR02",
+  "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. Repeat at your own pace until the operator says stop. Go slowly and only as far as you are comfortable. Step whenever you need to; do not try to hold on longer than feels safe."
  }
 }

actions/dynamic_recovery/DR02/session_012/motions/hands_mano.npz

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+size 4088106

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+size 11026059

actions/dynamic_recovery/DR02/session_013/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": "DR02",
+ "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. Repeat at your own pace until the operator says stop. Go slowly and only as far as you are comfortable. Step whenever you need to; do not try to hold on longer than feels safe.",
+ "segments": [
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+   "video": "left_eye",
+   "video_t_start": 0.09052255804906965
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+ "episodes": [
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+   "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. Repeat at your own pace until the operator says stop. Go slowly and only as far as you are comfortable. Step whenever you need to; do not try to hold on longer than feels safe."
+  },
+  {
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+   "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. Repeat at your own pace until the operator says stop. Go slowly and only as far as you are comfortable. Step whenever you need to; do not try to hold on longer than feels safe."
+  }
+ ]
+}

actions/dynamic_recovery/DR02/session_013/cameras/gsi_online_calibration.json

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actions/dynamic_recovery/DR02/session_013/cameras/slam.npz

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actions/dynamic_recovery/DR02/session_013/meta.json

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    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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     "left": {
@@ -543,10 +543,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
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+ },
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   "family": "dynamic_recovery",
   "primitive": "DR02",
   "source_session": "20261016/DR02/20261016_040510_session74"
+ },
+ "task": {
+  "primitive": "DR02",
+  "instruction": "Stand on the marked spots. Lean backward, keeping your body straight, until you cannot hold it, then step back to catch yourself. Return to the spots. Repeat at your own pace until the operator says stop. Go slowly and only as far as you are comfortable. Step whenever you need to; do not try to hold on longer than feels safe."
  }
 }

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+ "instruction": "Stand on the marked spots. Lean to the side the operator calls until you cannot hold it, then step to catch yourself. Return to the spots. Repeat at your own pace until the operator says stop. Go slowly and only as far as you are comfortable. Step whenever you need to; do not try to hold on longer than feels safe.",
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+  }
+ ]
+}

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+  "instruction": "Stand on the marked spots. Lean to the side the operator calls until you cannot hold it, then step to catch yourself. Return to the spots. Repeat at your own pace until the operator says stop. Go slowly and only as far as you are comfortable. Step whenever you need to; do not try to hold on longer than feels safe."
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 }

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+ ]
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+  "instruction": "Stand on the marked spots. Lean to the side the operator calls until you cannot hold it, then step to catch yourself. Return to the spots. Repeat at your own pace until the operator says stop. Go slowly and only as far as you are comfortable. Step whenever you need to; do not try to hold on longer than feels safe."
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 }

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+  }
+ ]
+}

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  }
 }

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actions/dynamic_recovery/DR03/session_004/annotations.json

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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": "DR03",
+ "instruction": "Stand on the marked spots. Lean to the side the operator calls until you cannot hold it, then step to catch yourself. Return to the spots. Repeat at your own pace until the operator says stop. Go slowly and only as far as you are comfortable. Step whenever you need to; do not try to hold on longer than feels safe.",
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+  }
+ ]
+}

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-   "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": {
@@ -516,10 +516,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.1250337668050074
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 29.73,
+    "offset_rotvec": [
+     0.423,
+     -0.1322,
+     0.2699
+    ],
+    "dev_deg": {
+     "median": 15.76,
+     "p90": 34.96
+    },
+    "samples": 2075,
+    "accepted": 1766,
+    "wrist_pos_err_mm_median": 161.2,
+    "per_camera": {
+     "head": {
+      "samples": 2075,
+      "accepted": 1766,
+      "gate_deg": 30.0,
+      "offset_deg": 29.73,
+      "tier": "primary",
+      "dev_deg_median": 15.76,
+      "wrist_pos_err_mm_median": 161.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 7417,
+     "interpolated": 6378,
+     "mean_hand": 1833,
+     "no_body_fit": 456
+    },
+    "observed_fraction": 0.8577,
+    "observed_fraction_of_valid": 0.8827,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 26.39,
+     "smplx": 0.37
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 14.0,
+      "p90": 17.4
+     },
+     "registered": {
+      "median": 12.8,
+      "p90": 13.9
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 15.51,
+    "offset_rotvec": [
+     0.0684,
+     0.258,
+     0.0453
+    ],
+    "dev_deg": {
+     "median": 46.02,
+     "p90": 56.43
+    },
+    "samples": 1128,
+    "accepted": 293,
+    "wrist_pos_err_mm_median": 323.8,
+    "per_camera": {
+     "head": {
+      "samples": 1128,
+      "accepted": 293,
+      "gate_deg": 30.0,
+      "offset_deg": 15.51,
+      "tier": "primary",
+      "dev_deg_median": 46.02,
+      "wrist_pos_err_mm_median": 323.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 1076,
+     "interpolated": 1428,
+     "mean_hand": 13124,
+     "no_body_fit": 456
+    },
+    "observed_fraction": 0.1557,
+    "observed_fraction_of_valid": 0.1602,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 48.66,
+     "smplx": 0.7
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.3,
+      "p90": 15.4
+     },
+     "registered": {
+      "median": 9.7,
+      "p90": 14.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:04:49.426421+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/DR03/session_004",
   "family": "dynamic_recovery",
   "primitive": "DR03",
   "source_session": "20260912/DR03/20260912_040534_session3"
+ },
+ "task": {
+  "primitive": "DR03",
+  "instruction": "Stand on the marked spots. Lean to the side the operator calls until you cannot hold it, then step to catch yourself. Return to the spots. Repeat at your own pace until the operator says stop. Go slowly and only as far as you are comfortable. Step whenever you need to; do not try to hold on longer than feels safe."
  }
 }

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