Release update 2026-11-05: 5760 sessions, instructions, annotations (part 312)

actions/locomanipulation/LM09/session_006/cameras/gsi_online_calibration.json

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actions/locomanipulation/LM09/session_006/meta.json

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   "family": "locomanipulation",
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+  "instruction": "Take an object from the highest shelf you can comfortably reach, carry it across, and place it on the lowest shelf. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+ },
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   {
    "name": "BigBox",

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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",
    "hand_marker_offsets_m": {
     "left": {
@@ -604,12 +604,126 @@
   },
   "applied": 3
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 16.01,
+    "offset_rotvec": [
+     0.1282,
+     -0.044,
+     -0.2443
+    ],
+    "dev_deg": {
+     "median": 35.64,
+     "p90": 168.07
+    },
+    "samples": 4559,
+    "accepted": 2128,
+    "wrist_pos_err_mm_median": 46.6,
+    "per_camera": {
+     "head": {
+      "samples": 4559,
+      "accepted": 2128,
+      "gate_deg": 30.0,
+      "offset_deg": 16.01,
+      "tier": "primary",
+      "dev_deg_median": 35.64,
+      "wrist_pos_err_mm_median": 46.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 8550,
+     "interpolated": 2246,
+     "mean_hand": 10756,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.5009,
+    "observed_fraction_of_valid": 0.5009,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 37.24,
+     "smplx": NaN
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": NaN,
+      "p90": NaN
+     },
+     "registered": {
+      "median": NaN,
+      "p90": NaN
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 1.16,
+    "offset_rotvec": [
+     -0.016,
+     -0.0061,
+     -0.0107
+    ],
+    "dev_deg": {
+     "median": 15.59,
+     "p90": 35.93
+    },
+    "samples": 4582,
+    "accepted": 3872,
+    "wrist_pos_err_mm_median": 38.6,
+    "per_camera": {
+     "head": {
+      "samples": 4582,
+      "accepted": 3872,
+      "gate_deg": 30.0,
+      "offset_deg": 1.16,
+      "tier": "primary",
+      "dev_deg_median": 15.59,
+      "wrist_pos_err_mm_median": 38.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15506,
+     "interpolated": 1790,
+     "mean_hand": 4256,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.8025,
+    "observed_fraction_of_valid": 0.8025,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.94,
+     "smplx": 2.61
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.6,
+      "p90": 10.7
+     },
+     "registered": {
+      "median": 7.5,
+      "p90": 8.9
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T18:16:10.414757+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/locomanipulation/LM09/session_007",
   "family": "locomanipulation",
   "primitive": "LM09",
   "source_session": "20261022/LM09/20261022_053254_session53"
  },
+ "task": {
+  "primitive": "LM09",
+  "instruction": "Take an object from the highest shelf you can comfortably reach, carry it across, and place it on the lowest shelf. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+ },
  "objects": [
   {
    "name": "BigBox",

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