Release update 2026-11-05: new sessions, instructions, annotations (part 54)

actions/locomotion_primitives/P21/session_025/motions/smplx.npz

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actions/locomotion_primitives/P21/session_026/annotations.json

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+{
+ "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": "P21",
+ "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop.",
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+}

actions/locomotion_primitives/P21/session_026/cameras/gsi_online_calibration.json

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actions/locomotion_primitives/P21/session_026/cameras/slam.npz

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actions/locomotion_primitives/P21/session_026/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)",
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+   "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",
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     "left": {
@@ -521,10 +521,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
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+  "cameras_used": [
+   "head"
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+  "generated_at_utc": "2026-11-03T21:39:30.602533+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/P21/session_026",
   "family": "locomotion_primitives",
   "primitive": "P21",
   "source_session": "20261017/P21/20261017_020910_session17"
+ },
+ "task": {
+  "primitive": "P21",
+  "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
  }
 }

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actions/locomotion_primitives/P21/session_027/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": "P21",
+ "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop.",
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+   "video": "left_eye",
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+  }
+ ]
+}

actions/locomotion_primitives/P21/session_027/meta.json

@@ -533,5 +533,9 @@
   "family": "locomotion_primitives",
   "primitive": "P21",
   "source_session": "20261019/P21/20261019_041142_session49"
+ },
+ "task": {
+  "primitive": "P21",
+  "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
  }
 }

actions/locomotion_primitives/P21/session_028/annotations.json

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+ "primitive": "P21",
+ "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop.",
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+  },
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+  },
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+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  }
+ ]
+}

actions/locomotion_primitives/P21/session_028/meta.json

@@ -529,5 +529,9 @@
   "family": "locomotion_primitives",
   "primitive": "P21",
   "source_session": "20261019/P21/20261019_041330_session50"
+ },
+ "task": {
+  "primitive": "P21",
+  "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
  }
 }

actions/locomotion_primitives/P21/session_029/annotations.json

@@ -0,0 +1,83 @@
+{
+ "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": "P21",
+ "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop.",
+ "segments": [
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+   "video": "left_eye",
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+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  }
+ ]
+}

actions/locomotion_primitives/P21/session_029/cameras/gsi_online_calibration.json

@@ -0,0 +1,208 @@
+{
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+  "groups_used": 14,
+  "median_px": 0.389
+ },
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+    "right_front",
+    "right_eye",
+    "left",
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+    -23.22,
+    -4.4
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+ "kind": "online_calibration",
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+ "version": 1
+}

actions/locomotion_primitives/P21/session_029/cameras/slam.npz

@@ -0,0 +1,3 @@
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+size 528160

actions/locomotion_primitives/P21/session_029/meta.json

@@ -380,8 +380,8 @@
   "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": {
@@ -537,10 +537,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
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+      "tier": "primary",
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+  "cameras_used": [
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+  "generated_at_utc": "2026-11-03T21:21:12.938625+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": {
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   "family": "locomotion_primitives",
   "primitive": "P21",
   "source_session": "20261019/P21/20261019_072732_session28"
+ },
+ "task": {
+  "primitive": "P21",
+  "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
  }
 }

actions/locomotion_primitives/P21/session_029/motions/hands_mano.npz

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+size 3412721

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actions/locomotion_primitives/P21/session_030/annotations.json

@@ -0,0 +1,72 @@
+{
+ "schema_version": 1,
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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": "P21",
+ "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop.",
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+   "video": "left_eye",
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+  }
+ ]
+}

actions/locomotion_primitives/P21/session_030/cameras/gsi_online_calibration.json

@@ -0,0 +1,255 @@
+{
+ "camera_fit": {
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+  "groups_used": 14,
+  "median_px": 0.401
+ },
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+    "right_front",
+    "left_eye",
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+    -0.2703,
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+   "usable": true
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+  "left_eye": {
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+   "against": [
+    "left_front",
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 }

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 }

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 }

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+    "observed_fraction_of_valid": 0.9965,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 17.66,
+     "smplx": 0.47
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.8,
+      "p90": 11.1
+     },
+     "registered": {
+      "median": 11.2,
+      "p90": 12.6
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 17.28,
+    "offset_rotvec": [
+     0.0325,
+     0.2924,
+     0.0667
+    ],
+    "dev_deg": {
+     "median": 12.24,
+     "p90": 26.97
+    },
+    "samples": 1624,
+    "accepted": 1504,
+    "wrist_pos_err_mm_median": 80.5,
+    "per_camera": {
+     "head": {
+      "samples": 1624,
+      "accepted": 1504,
+      "gate_deg": 30.0,
+      "offset_deg": 17.28,
+      "tier": "primary",
+      "dev_deg_median": 12.24,
+      "wrist_pos_err_mm_median": 80.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 6185,
+     "interpolated": 2042,
+     "mean_hand": 49,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9931,
+    "observed_fraction_of_valid": 0.9941,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 17.41,
+     "smplx": 0.48
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.5,
+      "p90": 8.8
+     },
+     "registered": {
+      "median": 7.9,
+      "p90": 8.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T15:43:13.428009+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/P22/session_005",
   "family": "locomotion_primitives",
   "primitive": "P22",
   "source_session": "20260909/P22/20260909_043725_session75"
+ },
+ "task": {
+  "primitive": "P22",
+  "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
  }
 }