Release update 2026-11-05: new sessions, instructions, annotations (part 53)

actions/locomotion_primitives/P18/session_014/cameras/gsi_online_calibration.json

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actions/locomotion_primitives/P18/session_014/cameras/slam.npz

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actions/locomotion_primitives/P18/session_014/meta.json

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   "family": "locomotion_primitives",
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+ },
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+  "instruction": "Walk; stop fully; turn 90\u00b0 left/right while standing; walk new direction."
  }
 }

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actions/locomotion_primitives/P18/session_015/annotations.json

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actions/locomotion_primitives/P18/session_015/meta.json

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   "family": "locomotion_primitives",
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 }

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+  "instruction": "Walk; turn 90\u00b0 left/right; walk several steps; stop."
  }
 }

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+}

actions/locomotion_primitives/P19/session_002/cameras/gsi_online_calibration.json

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actions/locomotion_primitives/P19/session_002/cameras/slam.npz

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actions/locomotion_primitives/P19/session_002/meta.json

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   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
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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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   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
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   "family": "locomotion_primitives",
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   "source_session": "20260828/P19/20260828_071234_session33"
+ },
+ "task": {
+  "primitive": "P19",
+  "instruction": "Walk; turn 90\u00b0 left/right; walk several steps; stop."
  }
 }

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actions/locomotion_primitives/P19/session_003/cameras/gsi_online_calibration.json

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actions/locomotion_primitives/P19/session_003/cameras/slam.npz

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actions/locomotion_primitives/P19/session_003/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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   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
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  "release": {
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   "family": "locomotion_primitives",
   "primitive": "P19",
   "source_session": "20260904/P19/20260904_080351_session44"
+ },
+ "task": {
+  "primitive": "P19",
+  "instruction": "Walk; turn 90\u00b0 left/right; walk several steps; stop."
  }
 }

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actions/locomotion_primitives/P19/session_004/annotations.json

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actions/locomotion_primitives/P19/session_004/meta.json

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   "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": {
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@@ -509,10 +509,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.9974962858244208
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+      "offset_deg": 28.3,
+      "tier": "primary",
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+  "max_gap_s": 1.0,
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+  "generated_at_utc": "2026-11-03T14:29:38.823560+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/locomotion_primitives/P19/session_004",
   "family": "locomotion_primitives",
   "primitive": "P19",
   "source_session": "20260907/P19/20260907_122741_session233"
+ },
+ "task": {
+  "primitive": "P19",
+  "instruction": "Walk; turn 90\u00b0 left/right; walk several steps; stop."
  }
 }

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actions/locomotion_primitives/P19/session_005/annotations.json

@@ -0,0 +1,149 @@
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+ "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",
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+}

actions/locomotion_primitives/P19/session_005/cameras/gsi_online_calibration.json

@@ -0,0 +1,258 @@
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actions/locomotion_primitives/P19/session_005/cameras/slam.npz

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actions/locomotion_primitives/P19/session_005/meta.json

@@ -342,8 +342,8 @@
   "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": {
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-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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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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@@ -522,10 +522,124 @@
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   "remaining_gyro_frame_deg": 0.8031985828332218
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 }

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