diff --git a/actions/locomotion_primitives/P18/session_014/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P18/session_014/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e5315135f12294e73b8e7880c2a15173e61c42d
--- /dev/null
+++ b/actions/locomotion_primitives/P18/session_014/cameras/gsi_online_calibration.json
@@ -0,0 +1,257 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.378
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.0986,
+   "gate_fail": [],
+   "held_out_px_after": 0.536,
+   "held_out_px_before": 4.817,
+   "inliers": 1429,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2235,
+    -0.5594,
+    -0.9187
+   ],
+   "split_deg": 0.0388,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.1722,
+   "gate_fail": [],
+   "held_out_px_after": 0.4,
+   "held_out_px_before": 5.211,
+   "inliers": 2436,
+   "position_fitted": true,
+   "position_mm": [
+    -0.65,
+    -11.64,
+    10.65
+   ],
+   "position_sigma_mm": 0.45,
+   "position_split_mm": 5.013,
+   "rotvec_deg": [
+    -0.1784,
+    0.763,
+    -2.0259
+   ],
+   "split_deg": 0.1338,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.2321,
+   "gate_fail": [],
+   "held_out_px_after": 0.504,
+   "held_out_px_before": 4.335,
+   "inliers": 1599,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.1106,
+    -0.3902,
+    -0.3638
+   ],
+   "split_deg": 0.1962,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.8434,
+   "gate_fail": [],
+   "held_out_px_after": 0.417,
+   "held_out_px_before": 3.28,
+   "inliers": 2543,
+   "position_fitted": true,
+   "position_mm": [
+    10.36,
+    -14.78,
+    8.9
+   ],
+   "position_sigma_mm": 0.458,
+   "position_split_mm": 3.001,
+   "rotvec_deg": [
+    0.0283,
+    -0.4578,
+    -0.7078
+   ],
+   "split_deg": 0.1078,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9326,
+   "gate_fail": [],
+   "held_out_px_after": 0.356,
+   "held_out_px_before": 6.116,
+   "inliers": 3818,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2639,
+    -0.184,
+    -1.9057
+   ],
+   "split_deg": 0.0524,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "f33df6016805262e8cc0783e262f2bd425fdcc10392b3287f1bc58c5483e6807",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "6d0a7a131f18b786f46aad070b1f9f4275984abed959e0407f0d3bb827961b1c",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "36830eabefb3dd459fef7f893690159386a8d4e950644ee95fc795e6a45178c4",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "f51b28e5e4a04f308fbf8d51526d7c2863dfec35ee8805c7a524036017bf1b4a",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "db1679f5613a291b",
+ "kind": "online_calibration",
+ "output_sha256": "77c76613d7cb6df52f406e371edee5cf0b206421ce841262f0c42431cf32ef08",
+ "overlap": {
+  "left-right": 0.501,
+  "left_eye-left": 0.707,
+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 32.501,
+  "left_eye": 26.614,
+  "left_front": 35.805,
+  "right": 33.854,
+  "right_eye": 24.803,
+  "right_front": 32.5
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   14307675200777,
+   14308675134111,
+   14317675178555,
+   14318675167444,
+   14321675189666,
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+   14413675178555,
+   14414675189666,
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+   14417675145222,
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+   14457675178555,
+   14458675178555
+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P18/session_014/cameras/slam.npz b/actions/locomotion_primitives/P18/session_014/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..97c7ae2025ca2afa5d7a55c627610512f5efec1e
--- /dev/null
+++ b/actions/locomotion_primitives/P18/session_014/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:465181a261df2cfe82a7a9fb24b62c86c6de4782cfb07ca293626987d66424c3
+size 914719
diff --git a/actions/locomotion_primitives/P18/session_014/meta.json b/actions/locomotion_primitives/P18/session_014/meta.json
index 8e0196f397647ee235c89baae96bcd155ab9aa58..be3e0ca4e2fa0e235b4823d32ec1e006ddaca752 100644
--- a/actions/locomotion_primitives/P18/session_014/meta.json
+++ b/actions/locomotion_primitives/P18/session_014/meta.json
@@ -327,8 +327,8 @@
   "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": {
@@ -526,10 +526,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.9748998089833225
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 39.86,
+    "offset_rotvec": [
+     0.6005,
+     -0.347,
+     -0.0529
+    ],
+    "dev_deg": {
+     "median": 13.3,
+     "p90": 27.84
+    },
+    "samples": 3422,
+    "accepted": 3137,
+    "wrist_pos_err_mm_median": 113.6,
+    "per_camera": {
+     "head": {
+      "samples": 3422,
+      "accepted": 3137,
+      "gate_deg": 30.0,
+      "offset_deg": 39.86,
+      "tier": "primary",
+      "dev_deg_median": 13.3,
+      "wrist_pos_err_mm_median": 113.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13040,
+     "interpolated": 5652,
+     "mean_hand": 392,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9795,
+    "observed_fraction_of_valid": 0.9795,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 42.45,
+     "smplx": 0.54
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.0,
+      "p90": 9.1
+     },
+     "registered": {
+      "median": 5.3,
+      "p90": 7.2
+     }
+    }
+   },
+   "right": {
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+    "offset_rotvec": [
+     0.5516,
+     0.3999,
+     0.1808
+    ],
+    "dev_deg": {
+     "median": 16.78,
+     "p90": 33.32
+    },
+    "samples": 2738,
+    "accepted": 2358,
+    "wrist_pos_err_mm_median": 83.5,
+    "per_camera": {
+     "head": {
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+      "accepted": 2358,
+      "gate_deg": 30.0,
+      "offset_deg": 40.39,
+      "tier": "primary",
+      "dev_deg_median": 16.78,
+      "wrist_pos_err_mm_median": 83.5
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 8338,
+     "mean_hand": 868,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9545,
+    "observed_fraction_of_valid": 0.9545,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.84
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
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+      "p90": 7.0
+     },
+     "registered": {
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+      "p90": 9.5
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:38:08.384563+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/P18/session_014",
   "family": "locomotion_primitives",
   "primitive": "P18",
   "source_session": "20260923/P18/20260923_073334_session58"
+ },
+ "task": {
+  "primitive": "P18",
+  "instruction": "Walk; stop fully; turn 90\u00b0 left/right while standing; walk new direction."
  }
 }
diff --git a/actions/locomotion_primitives/P18/session_014/motions/hands_mano.npz b/actions/locomotion_primitives/P18/session_014/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bfdb40d576d3f827dbf1bb7cee8d0509efdc0f83
--- /dev/null
+++ b/actions/locomotion_primitives/P18/session_014/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39105a46414087940fb9594fd9f2c10e09db0515b4194a0850c3cde1dd0e0f4a
+size 4294002
diff --git a/actions/locomotion_primitives/P18/session_014/motions/smplx.npz b/actions/locomotion_primitives/P18/session_014/motions/smplx.npz
index 55bc1696bbd78c305a8ce4a9b264d650e54958ce..5c7fbe51d86567c9e0343b5c7ed058217cb81a87 100644
--- a/actions/locomotion_primitives/P18/session_014/motions/smplx.npz
+++ b/actions/locomotion_primitives/P18/session_014/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f2b0d3eac94aa676d4f737239c1f4506cb0cde6f67810d86cc8f7101b14eec27
-size 7334203
+oid sha256:13c542c5ee7f8f09b80268feb959d20b3eb47de700148604f952dea688dc92e0
+size 13596310
diff --git a/actions/locomotion_primitives/P18/session_015/annotations.json b/actions/locomotion_primitives/P18/session_015/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ada1deb8f41a186beff574ef7c9f8ac592c7a14
--- /dev/null
+++ b/actions/locomotion_primitives/P18/session_015/annotations.json
@@ -0,0 +1,149 @@
+{
+ "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": "P18",
+ "instruction": "Walk; stop fully; turn 90° left/right while standing; walk new direction.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 168.966556,
+   "video": "left_eye",
+   "video_t_start": 0.03866093025410122
+  }
+ ],
+ "episodes": [
+  {
+   "id": "9d6dd9a9-c895-43fa-bae0-564c09f3a47a",
+   "segment": "segment1",
+   "action": "P18",
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+   "t_end": 12.7717,
+   "instruction": "Walk; stop fully; turn 90° left/right while standing; walk new direction."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P18",
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+   "t_start": 15.7397,
+   "t_end": 27.4087,
+   "instruction": "Walk; stop fully; turn 90° left/right while standing; walk new direction."
+  },
+  {
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+   "instruction": "Walk; stop fully; turn 90° left/right while standing; walk new direction."
+  },
+  {
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+   "quality": "valid",
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+   "end_s": 146.818,
+   "t_start": 135.8747,
+   "t_end": 146.8567,
+   "instruction": "Walk; stop fully; turn 90° left/right while standing; walk new direction."
+  },
+  {
+   "id": "897e7133-a229-47bb-82f8-dd11c960fe02",
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+   "end_s": 158.8,
+   "t_start": 149.1687,
+   "t_end": 158.8387,
+   "instruction": "Walk; stop fully; turn 90° left/right while standing; walk new direction."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P18/session_015/cameras/slam.npz b/actions/locomotion_primitives/P18/session_015/cameras/slam.npz
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/actions/locomotion_primitives/P18/session_015/meta.json b/actions/locomotion_primitives/P18/session_015/meta.json
index f6d3f424015e619df593a2b6aff63b19accc1649..1ea07c2305f523c819fb029fb71b9a4153555ad8 100644
--- a/actions/locomotion_primitives/P18/session_015/meta.json
+++ b/actions/locomotion_primitives/P18/session_015/meta.json
@@ -339,8 +339,8 @@
   "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": {
@@ -520,10 +520,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.2862816166215898
  },
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+     0.526,
+     -0.1089,
+     -0.0918
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+     "p90": 45.12
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+    "accepted": 1071,
+    "wrist_pos_err_mm_median": 233.1,
+    "per_camera": {
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+      "accepted": 1071,
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+      "offset_deg": 31.22,
+      "tier": "primary",
+      "dev_deg_median": 24.47,
+      "wrist_pos_err_mm_median": 233.1
+     }
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+     "no_body_fit": 8
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+    "palm_axis_vs_markers_deg": {
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+  "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": []
+ },
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   "family": "locomotion_primitives",
   "primitive": "P18",
   "source_session": "20260928/P18/20260928_100839_session69"
+ },
+ "task": {
+  "primitive": "P18",
+  "instruction": "Walk; stop fully; turn 90\u00b0 left/right while standing; walk new direction."
  }
 }
diff --git a/actions/locomotion_primitives/P18/session_015/motions/hands_mano.npz b/actions/locomotion_primitives/P18/session_015/motions/hands_mano.npz
new file mode 100644
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/actions/locomotion_primitives/P18/session_015/motions/smplx.npz b/actions/locomotion_primitives/P18/session_015/motions/smplx.npz
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+++ b/actions/locomotion_primitives/P18/session_015/motions/smplx.npz
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--- /dev/null
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+ "primitive": "P18",
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diff --git a/actions/locomotion_primitives/P18/session_016/cameras/slam.npz b/actions/locomotion_primitives/P18/session_016/cameras/slam.npz
new file mode 100644
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--- /dev/null
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--- a/actions/locomotion_primitives/P18/session_016/meta.json
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   "family": "locomotion_primitives",
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   "source_session": "20260929/P18/20260929_070742_session122"
+ },
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 }
diff --git a/actions/locomotion_primitives/P18/session_016/motions/hands_mano.npz b/actions/locomotion_primitives/P18/session_016/motions/hands_mano.npz
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diff --git a/actions/locomotion_primitives/P18/session_017/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P18/session_017/cameras/gsi_online_calibration.json
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diff --git a/actions/locomotion_primitives/P18/session_017/meta.json b/actions/locomotion_primitives/P18/session_017/meta.json
index d439fa6e2a843d865ad4685e915e67a3d28a1435..78eaf77fcdc890b0e16bc4fea813d6492f79f1a3 100644
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   "family": "locomotion_primitives",
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   "source_session": "20261016/P18/20261016_022410_session47"
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 }
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new file mode 100644
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--- /dev/null
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\ No newline at end of file
diff --git a/actions/locomotion_primitives/P19/session_001/cameras/slam.npz b/actions/locomotion_primitives/P19/session_001/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3dcaae0f0da4eb0e9adf9cc0fda7f72879de709e
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_001/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7db966a391d34324d83db24c3fc823c34ab4aad609ca4f64630dc457aebdbf75
+size 651471
diff --git a/actions/locomotion_primitives/P19/session_001/meta.json b/actions/locomotion_primitives/P19/session_001/meta.json
index 5276b8c985e13284d6fc01db850c1d8795df0b9b..2feb46f92fe12f69436d0fe5b27c0b0d026f7b6f 100644
--- a/actions/locomotion_primitives/P19/session_001/meta.json
+++ b/actions/locomotion_primitives/P19/session_001/meta.json
@@ -346,8 +346,8 @@
   "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 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 14.69,
+    "offset_rotvec": [
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+     -0.2264,
+     -0.0429
+    ],
+    "dev_deg": {
+     "median": 6.75,
+     "p90": 16.13
+    },
+    "samples": 3166,
+    "accepted": 3102,
+    "wrist_pos_err_mm_median": 46.4,
+    "per_camera": {
+     "head": {
+      "samples": 3166,
+      "accepted": 3102,
+      "gate_deg": 30.0,
+      "offset_deg": 14.69,
+      "tier": "primary",
+      "dev_deg_median": 6.75,
+      "wrist_pos_err_mm_median": 46.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12518,
+     "interpolated": 1038,
+     "mean_hand": 8,
+     "no_body_fit": 120
+    },
+    "observed_fraction": 0.9906,
+    "observed_fraction_of_valid": 0.9994,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.79,
+     "smplx": 0.5
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.1,
+      "p90": 6.2
+     },
+     "registered": {
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+      "p90": 7.1
+     }
+    }
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+     -0.1089,
+     0.1483
+    ],
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+     "median": 5.03,
+     "p90": 12.99
+    },
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+    "accepted": 2815,
+    "wrist_pos_err_mm_median": 32.1,
+    "per_camera": {
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+      "accepted": 2815,
+      "gate_deg": 30.0,
+      "offset_deg": 11.43,
+      "tier": "primary",
+      "dev_deg_median": 5.03,
+      "wrist_pos_err_mm_median": 32.1
+     }
+    },
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+     "interpolated": 2158,
+     "mean_hand": 8,
+     "no_body_fit": 120
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+    "observed_fraction_of_valid": 0.9994,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.91
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 9.8
+     },
+     "registered": {
+      "median": 7.9,
+      "p90": 10.0
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:33:02.830202+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_001",
   "family": "locomotion_primitives",
   "primitive": "P19",
   "source_session": "20260828/P19/20260828_071027_session32"
+ },
+ "task": {
+  "primitive": "P19",
+  "instruction": "Walk; turn 90\u00b0 left/right; walk several steps; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P19/session_001/motions/hands_mano.npz b/actions/locomotion_primitives/P19/session_001/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..87aebb0a01cc2f273a4290b8d7f823ea92c766ea
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_001/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f5548a0091812cdcd260b8e095df593416a0e22abc37dacbf4d68ee085fcb79
+size 4060340
diff --git a/actions/locomotion_primitives/P19/session_001/motions/smplx.npz b/actions/locomotion_primitives/P19/session_001/motions/smplx.npz
index 36e14267f5de26d558aa5795cee99184d6d3a4b7..8a2c12e5537feca2b23dd880c0e6a45b294e8eb4 100644
--- a/actions/locomotion_primitives/P19/session_001/motions/smplx.npz
+++ b/actions/locomotion_primitives/P19/session_001/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:10cc6c9bd83d7ceefc6d9eb0429f295e878002b6e17bcba1768330bd6879e5bd
-size 5169491
+oid sha256:ed0609fedd217fea7520824f0c936e333ab165f247b3941621fd37b0c144dded
+size 9727975
diff --git a/actions/locomotion_primitives/P19/session_002/annotations.json b/actions/locomotion_primitives/P19/session_002/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea4eb3964896dadd90cad581bb616a36e604a5a1
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_002/annotations.json
@@ -0,0 +1,127 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 1, 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": "P19",
+ "instruction": "Walk; turn 90° left/right; walk several steps; stop.",
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+   "video": "left_eye",
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+  }
+ ],
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+   "instruction": "Walk; turn 90° left/right; walk several steps; stop."
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P19/session_002/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P19/session_002/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..c688a068edb9d1e39f3c14ca0541fbda2df173f3
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_002/cameras/gsi_online_calibration.json
@@ -0,0 +1,263 @@
+{
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+    "median_px": 15.84,
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+     "left",
+     "right"
+    ]
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+  "median_px": 0.366
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.9612,
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+   "held_out_px_before": 7.558,
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+   "rotvec_deg": [
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+    0.8333,
+    0.4742
+   ],
+   "split_deg": 0.1411,
+   "usable": true
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+    "left_front",
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+   "against": [
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+    "right_front",
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+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
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+  },
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+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P19/session_002/cameras/slam.npz b/actions/locomotion_primitives/P19/session_002/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6a85b8d02679378081feeb8c7bdc6cce6aebd6eb
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_002/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 623121
diff --git a/actions/locomotion_primitives/P19/session_002/meta.json b/actions/locomotion_primitives/P19/session_002/meta.json
index 9f3298367c86d136c612868c41027f061523c68c..333058191a36a762ff4b235c6fd09dbd578c7166 100644
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+++ b/actions/locomotion_primitives/P19/session_002/meta.json
@@ -347,8 +347,8 @@
   "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": {
@@ -538,10 +538,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 14.88,
+    "offset_rotvec": [
+     -0.1115,
+     -0.2315,
+     -0.0381
+    ],
+    "dev_deg": {
+     "median": 7.76,
+     "p90": 22.89
+    },
+    "samples": 3013,
+    "accepted": 2820,
+    "wrist_pos_err_mm_median": 47.0,
+    "per_camera": {
+     "head": {
+      "samples": 3013,
+      "accepted": 2820,
+      "gate_deg": 30.0,
+      "offset_deg": 14.88,
+      "tier": "primary",
+      "dev_deg_median": 7.76,
+      "wrist_pos_err_mm_median": 47.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11408,
+     "interpolated": 1404,
+     "mean_hand": 272,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9792,
+    "observed_fraction_of_valid": 0.9792,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.65,
+     "smplx": 0.78
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.4,
+      "p90": 6.6
+     },
+     "registered": {
+      "median": 6.3,
+      "p90": 7.4
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 12.03,
+    "offset_rotvec": [
+     -0.102,
+     -0.117,
+     0.1413
+    ],
+    "dev_deg": {
+     "median": 4.73,
+     "p90": 15.63
+    },
+    "samples": 2784,
+    "accepted": 2709,
+    "wrist_pos_err_mm_median": 32.7,
+    "per_camera": {
+     "head": {
+      "samples": 2784,
+      "accepted": 2709,
+      "gate_deg": 30.0,
+      "offset_deg": 12.03,
+      "tier": "primary",
+      "dev_deg_median": 4.73,
+      "wrist_pos_err_mm_median": 32.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10980,
+     "interpolated": 1968,
+     "mean_hand": 136,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9896,
+    "observed_fraction_of_valid": 0.9896,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 11.24,
+     "smplx": 0.96
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.5,
+      "p90": 6.6
+     },
+     "registered": {
+      "median": 7.5,
+      "p90": 8.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:33:10.338550+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_002",
   "family": "locomotion_primitives",
   "primitive": "P19",
   "source_session": "20260828/P19/20260828_071234_session33"
+ },
+ "task": {
+  "primitive": "P19",
+  "instruction": "Walk; turn 90\u00b0 left/right; walk several steps; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P19/session_002/motions/hands_mano.npz b/actions/locomotion_primitives/P19/session_002/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a79d83863369548b3f6cb9f3e1eeaba815f69418
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_002/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67b5d64a7bf6ed67ffa1eb9bb1d164974c46dee2d775b844464251836556b6f5
+size 3894517
diff --git a/actions/locomotion_primitives/P19/session_002/motions/smplx.npz b/actions/locomotion_primitives/P19/session_002/motions/smplx.npz
index fd5cd740671f02f6349f58f3e9976e3ce640bcb3..f8ac3b561edf68a1e2433f064a15b39a2487e016 100644
--- a/actions/locomotion_primitives/P19/session_002/motions/smplx.npz
+++ b/actions/locomotion_primitives/P19/session_002/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:fd55fbae94a3c262c9a0ea216dd25fc144dd5dfb874973d3fce04640acf10629
-size 4991849
+oid sha256:ff12db8e4f75568bc3ec6b99b803ac6bf413abf04e29447bd82ed63ff464565f
+size 9343146
diff --git a/actions/locomotion_primitives/P19/session_003/annotations.json b/actions/locomotion_primitives/P19/session_003/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d2af63b1c991e028a93ccd216e81dadcdf2c34d
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_003/annotations.json
@@ -0,0 +1,149 @@
+{
+ "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": "P19",
+ "instruction": "Walk; turn 90° left/right; walk several steps; stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 113.966667,
+   "video": "left_eye",
+   "video_t_start": 0.039422399295116595
+  }
+ ],
+ "episodes": [
+  {
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+   "segment": "segment1",
+   "action": "P19",
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+   "instruction": "Walk; turn 90° left/right; walk several steps; stop."
+  },
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+   "instruction": "Walk; turn 90° left/right; walk several steps; stop."
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+   "instruction": "Walk; turn 90° left/right; walk several steps; stop."
+  },
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+   "instruction": "Walk; turn 90° left/right; walk several steps; stop."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P19",
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+   "end_s": 100.655,
+   "t_start": 93.6744,
+   "t_end": 100.6944,
+   "instruction": "Walk; turn 90° left/right; walk several steps; stop."
+  },
+  {
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+   "end_s": 108.406,
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+   "t_end": 108.4454,
+   "instruction": "Walk; turn 90° left/right; walk several steps; stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P19/session_003/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P19/session_003/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..e67251034cacef62fb90940407b586eefc922643
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_003/cameras/gsi_online_calibration.json
@@ -0,0 +1,263 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 255,
+    "median_px": 673.63,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.35
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.1416,
+   "gate_fail": [],
+   "held_out_px_after": 0.502,
+   "held_out_px_before": 4.203,
+   "inliers": 2285,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.093,
+    0.0917,
+    -0.0549
+   ],
+   "split_deg": 0.0553,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.8531,
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+   "inliers": 3300,
+   "position_fitted": true,
+   "position_mm": [
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+    8.98,
+    12.26
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+   "position_sigma_mm": 0.385,
+   "position_split_mm": 2.66,
+   "rotvec_deg": [
+    0.1704,
+    0.3013,
+    -0.7798
+   ],
+   "split_deg": 0.0998,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.5743,
+   "gate_fail": [],
+   "held_out_px_after": 0.53,
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+   "inliers": 2430,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2414,
+    -0.5178,
+    0.0586
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+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.7122,
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+   "inliers": 3429,
+   "position_fitted": true,
+   "position_mm": [
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+    9.74,
+    11.93
+   ],
+   "position_sigma_mm": 0.391,
+   "position_split_mm": 3.792,
+   "rotvec_deg": [
+    0.3103,
+    -0.1354,
+    -0.6266
+   ],
+   "split_deg": 0.1126,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+   "inliers": 5396,
+   "position_fitted": false,
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+    0.0134,
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+   ],
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+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
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+  },
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+   "sha256": "9ead241a33d3ab44e9d08854c0af1547a3477701a28586d3f2a2fec95b068843",
+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
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+   "sha256": "423480073c0cec18c0300258fd4ee01c0d450de3a390ce2dd21844fee05dc8f9",
+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "76de52550a16a53cca4d787590104f0ceb70b2711c97c963de5aad2549953199",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
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+ "kind": "online_calibration",
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+  "left_front-left_eye": 0.709,
+  "left_front-right": 0.464,
+  "left_front-right_eye": 0.711,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.708,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.668,
+  "right_front-left": 0.482,
+  "right_front-left_eye": 0.711,
+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
+ "picture_change": {
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+  "left_eye": 34.486,
+  "left_front": 40.623,
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+  "right_eye": 35.092,
+  "right_front": 40.835
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
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+ "segment": 1,
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P19/session_003/cameras/slam.npz b/actions/locomotion_primitives/P19/session_003/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8f3c843e7f3fb906f43fcd4bef193d9da5460ee8
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_003/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea15d2939ff0f5740f088f5f3213b78efc85897fbc54d557e45f314c4fc6a060
+size 652161
diff --git a/actions/locomotion_primitives/P19/session_003/meta.json b/actions/locomotion_primitives/P19/session_003/meta.json
index 3ae7111e1cac9a902df870db4b050f0fb8295e1d..9d1fc61b4d05da38523c04581abad45deabc4869 100644
--- a/actions/locomotion_primitives/P19/session_003/meta.json
+++ b/actions/locomotion_primitives/P19/session_003/meta.json
@@ -347,8 +347,8 @@
   "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": {
@@ -518,10 +518,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
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+     -0.2193,
+     -0.0619
+    ],
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+     "p90": 18.05
+    },
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+    "accepted": 2988,
+    "wrist_pos_err_mm_median": 55.2,
+    "per_camera": {
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+      "accepted": 2988,
+      "gate_deg": 30.0,
+      "offset_deg": 13.87,
+      "tier": "primary",
+      "dev_deg_median": 7.32,
+      "wrist_pos_err_mm_median": 55.2
+     }
+    },
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+     "interpolated": 1464,
+     "mean_hand": 12,
+     "no_body_fit": 23
+    },
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+    "observed_fraction_of_valid": 0.9991,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 10.9,
+     "smplx": 1.18
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.3,
+      "p90": 8.4
+     },
+     "registered": {
+      "median": 6.5,
+      "p90": 7.5
+     }
+    }
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+    "offset_rotvec": [
+     -0.0862,
+     -0.1159,
+     0.1303
+    ],
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+     "median": 7.58,
+     "p90": 22.03
+    },
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+    "accepted": 2657,
+    "wrist_pos_err_mm_median": 59.9,
+    "per_camera": {
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+      "accepted": 2657,
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+      "offset_deg": 11.15,
+      "tier": "primary",
+      "dev_deg_median": 7.58,
+      "wrist_pos_err_mm_median": 59.9
+     }
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+     "interpolated": 2745,
+     "mean_hand": 12,
+     "no_body_fit": 23
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+    "observed_fraction_of_valid": 0.9991,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 11.82,
+     "smplx": 1.3
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 7.0
+     },
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+      "p90": 7.0
+     }
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+   }
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+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T13:52:39.119342+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_003",
   "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."
  }
 }
diff --git a/actions/locomotion_primitives/P19/session_003/motions/hands_mano.npz b/actions/locomotion_primitives/P19/session_003/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5f0de3bd6f55b510858e0f4b83146d32958d6b77
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_003/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e022f6c45293038ccfda2280b96af611581971d8c9d14414625e58d062a77c2
+size 4009919
diff --git a/actions/locomotion_primitives/P19/session_003/motions/smplx.npz b/actions/locomotion_primitives/P19/session_003/motions/smplx.npz
index bac9d51bc8d4d73e9e3962593bf700b0d59700de..351b8c2b48170ed0fedd82c892e81644f579e1e6 100644
--- a/actions/locomotion_primitives/P19/session_003/motions/smplx.npz
+++ b/actions/locomotion_primitives/P19/session_003/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P19/session_004/annotations.json b/actions/locomotion_primitives/P19/session_004/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..49e7769095849d2ff78e9a4d068f347d38f37ff0
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_004/annotations.json
@@ -0,0 +1,149 @@
+{
+ "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": "P19",
+ "instruction": "Walk; turn 90° left/right; walk several steps; stop.",
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+   "video": "left_eye",
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+   "segment": "segment1",
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+   "instruction": "Walk; turn 90° left/right; walk several steps; stop."
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+ ]
+}
diff --git a/actions/locomotion_primitives/P19/session_004/cameras/slam.npz b/actions/locomotion_primitives/P19/session_004/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1605eca92fa4c52966bb763797f6d223c5f6485c
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_004/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e19e62cb5d46dcc754a96ef972c10ce5dacd9e74c1711e1605f88d4b0cce8b7e
+size 523341
diff --git a/actions/locomotion_primitives/P19/session_004/meta.json b/actions/locomotion_primitives/P19/session_004/meta.json
index 885adaaa8ce82bea809f9db3ef3d273f01847a18..b88e7766e7f8ac3c9ecd2db64d8c960695fd00cd 100644
--- a/actions/locomotion_primitives/P19/session_004/meta.json
+++ b/actions/locomotion_primitives/P19/session_004/meta.json
@@ -329,8 +329,8 @@
   "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": {
@@ -509,10 +509,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.9974962858244208
  },
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+     0.0975
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+    "accepted": 961,
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+    "per_camera": {
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+      "offset_deg": 28.3,
+      "tier": "primary",
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+  "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",
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+ },
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   "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."
  }
 }
diff --git a/actions/locomotion_primitives/P19/session_004/motions/hands_mano.npz b/actions/locomotion_primitives/P19/session_004/motions/hands_mano.npz
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+{
+ "schema_version": 1,
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+ "primitive": "P19",
+ "instruction": "Walk; turn 90° left/right; walk several steps; stop.",
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+   "instruction": "Walk; turn 90° left/right; walk several steps; stop."
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+   "end_s": 108.633,
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P19/session_005/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P19/session_005/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..a222ae8f346ed6558493661a5502c3dd62746e92
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_005/cameras/gsi_online_calibration.json
@@ -0,0 +1,258 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.326
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.6872,
+   "gate_fail": [],
+   "held_out_px_after": 0.448,
+   "held_out_px_before": 5.805,
+   "inliers": 3832,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.5322,
+    -0.3207,
+    -0.2934
+   ],
+   "split_deg": 0.1887,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.6912,
+   "gate_fail": [],
+   "held_out_px_after": 0.36,
+   "held_out_px_before": 6.338,
+   "inliers": 6127,
+   "position_fitted": true,
+   "position_mm": [
+    -1.76,
+    -8.69,
+    10.09
+   ],
+   "position_sigma_mm": 0.384,
+   "position_split_mm": 4.202,
+   "rotvec_deg": [
+    0.4363,
+    0.5023,
+    -1.5548
+   ],
+   "split_deg": 0.0984,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+   "held_out_px_after": 0.588,
+   "held_out_px_before": 4.477,
+   "inliers": 820,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.123,
+    -0.5183,
+    0.3393
+   ],
+   "split_deg": 0.216,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
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+   "gate_fail": [],
+   "held_out_px_after": 0.335,
+   "held_out_px_before": 2.033,
+   "inliers": 6296,
+   "position_fitted": true,
+   "position_mm": [
+    3.8,
+    -8.32,
+    11.11
+   ],
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+   "position_split_mm": 2.213,
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+    0.5255,
+    -0.5333,
+    -0.2912
+   ],
+   "split_deg": 0.1089,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+   "gate_fail": [],
+   "held_out_px_after": 0.309,
+   "held_out_px_before": 4.113,
+   "inliers": 6316,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2676,
+    -0.1055,
+    -1.047
+   ],
+   "split_deg": 0.0157,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "3761c3d9701bce2e599f83a933ccf992faf33353ec9fe867a06f9eb71772be77",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "761a96a6fdf9455ca6379348075306483bfd8dd90a8b211bd6d57876796e4b71",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "e9db4adb826f7e3fc6c0a02fe3220de3a7db7e030d795a75499883619ec4535a",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "95eedd93bf8659ea9f87d9361f3be7567eef1c5d606574974c63920484c06911",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "0affc20a7f7451cf",
+ "kind": "online_calibration",
+ "output_sha256": "5d4e6189083c5babfa70c70475a38717a8bcfc65c828ba27ea73e2922909514b",
+ "overlap": {
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+  "left_eye-left": 0.707,
+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 39.423,
+  "left_eye": 34.947,
+  "left_front": 40.757,
+  "right": 40.545,
+  "right_eye": 34.209,
+  "right_front": 38.984
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P19/session_005/cameras/slam.npz b/actions/locomotion_primitives/P19/session_005/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0ef601a9c7ecd45fa7caebe87c07ed718161a5a0
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_005/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:161f1e582e7ac741d997baeb89db284f11798951d4601fe378d27196c20c40b9
+size 654656
diff --git a/actions/locomotion_primitives/P19/session_005/meta.json b/actions/locomotion_primitives/P19/session_005/meta.json
index 316da572be51f716c7016ad760afc8a9423f6ca1..d83362b27e36eb19a38c5df0ef913899c658e4d0 100644
--- a/actions/locomotion_primitives/P19/session_005/meta.json
+++ b/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": {
-   "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": {
@@ -522,10 +522,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.8031985828332218
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 18.48,
+    "offset_rotvec": [
+     -0.1691,
+     -0.2249,
+     -0.1576
+    ],
+    "dev_deg": {
+     "median": 13.58,
+     "p90": 23.96
+    },
+    "samples": 2385,
+    "accepted": 2277,
+    "wrist_pos_err_mm_median": 53.8,
+    "per_camera": {
+     "head": {
+      "samples": 2385,
+      "accepted": 2277,
+      "gate_deg": 30.0,
+      "offset_deg": 18.48,
+      "tier": "primary",
+      "dev_deg_median": 13.58,
+      "wrist_pos_err_mm_median": 53.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9328,
+     "interpolated": 3412,
+     "mean_hand": 936,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.931,
+    "observed_fraction_of_valid": 0.9316,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 16.03,
+     "smplx": 0.6
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.6,
+      "p90": 7.0
+     },
+     "registered": {
+      "median": 5.1,
+      "p90": 6.5
+     }
+    }
+   },
+   "right": {
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+    "offset_rotvec": [
+     0.0849,
+     0.1721,
+     0.0058
+    ],
+    "dev_deg": {
+     "median": 12.46,
+     "p90": 33.91
+    },
+    "samples": 2764,
+    "accepted": 2400,
+    "wrist_pos_err_mm_median": 82.1,
+    "per_camera": {
+     "head": {
+      "samples": 2764,
+      "accepted": 2400,
+      "gate_deg": 30.0,
+      "offset_deg": 11.0,
+      "tier": "primary",
+      "dev_deg_median": 12.46,
+      "wrist_pos_err_mm_median": 82.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9754,
+     "interpolated": 2530,
+     "mean_hand": 1392,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.8977,
+    "observed_fraction_of_valid": 0.8982,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.37,
+     "smplx": 0.47
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.5,
+      "p90": 9.9
+     },
+     "registered": {
+      "median": 9.3,
+      "p90": 11.2
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T14:59:58.533838+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_005",
   "family": "locomotion_primitives",
   "primitive": "P19",
   "source_session": "20260908/P19/20260908_015207_session17"
+ },
+ "task": {
+  "primitive": "P19",
+  "instruction": "Walk; turn 90\u00b0 left/right; walk several steps; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P19/session_005/motions/hands_mano.npz b/actions/locomotion_primitives/P19/session_005/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..250d0d23691899d328b2a32d7eff4230ff72e7b0
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_005/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e45d38360d0f7714357ec465090fcaa548aa6e31f00a363183c3db19a5806d8
+size 3532251
diff --git a/actions/locomotion_primitives/P19/session_005/motions/smplx.npz b/actions/locomotion_primitives/P19/session_005/motions/smplx.npz
index ca35814e6788cd534ab9efdddd5db88e3ef0b591..36ada372001d293503b239b03bf446795f7749c0 100644
--- a/actions/locomotion_primitives/P19/session_005/motions/smplx.npz
+++ b/actions/locomotion_primitives/P19/session_005/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c8cd7130d402a895a5ec62947e98128989d1a3a98ba93d4f4ddf49981f5c4d87
-size 5230477
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+size 9530455
diff --git a/actions/locomotion_primitives/P19/session_006/annotations.json b/actions/locomotion_primitives/P19/session_006/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b6e62eed74184eec2724e2f14bf00c361b74ce8
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_006/annotations.json
@@ -0,0 +1,149 @@
+{
+ "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": "P19",
+ "instruction": "Walk; turn 90° left/right; walk several steps; stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 113.966711,
+   "video": "left_eye",
+   "video_t_start": 0.038604010707234515
+  }
+ ],
+ "episodes": [
+  {
+   "id": "a5c6e803-1b0c-4e07-82d6-2ef271c0cf30",
+   "segment": "segment1",
+   "action": "P19",
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+   "end_s": 8.313,
+   "t_start": 0.0386,
+   "t_end": 8.3516,
+   "instruction": "Walk; turn 90° left/right; walk several steps; stop."
+  },
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+   "end_s": 17.198,
+   "t_start": 11.9676,
+   "t_end": 17.2366,
+   "instruction": "Walk; turn 90° left/right; walk several steps; stop."
+  },
+  {
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+   "segment": "segment1",
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+   "instruction": "Walk; turn 90° left/right; walk several steps; stop."
+  },
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+}
diff --git a/actions/locomotion_primitives/P19/session_006/cameras/slam.npz b/actions/locomotion_primitives/P19/session_006/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..38c344aa51d1164c87c9c54f7789486be928cfab
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_006/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 655750
diff --git a/actions/locomotion_primitives/P19/session_006/meta.json b/actions/locomotion_primitives/P19/session_006/meta.json
index 373f7224482ac7822ef570c09e57ee59095460b6..b9659dd0747b5ede04ecd4998095e4924d5844a8 100644
--- a/actions/locomotion_primitives/P19/session_006/meta.json
+++ b/actions/locomotion_primitives/P19/session_006/meta.json
@@ -327,8 +327,8 @@
   "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",
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@@ -509,10 +509,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.40069313813454516
  },
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+  "max_gap_s": 1.0,
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+  "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": []
+ },
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   "family": "locomotion_primitives",
   "primitive": "P19",
   "source_session": "20260908/P19/20260908_073222_session69"
+ },
+ "task": {
+  "primitive": "P19",
+  "instruction": "Walk; turn 90\u00b0 left/right; walk several steps; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P19/session_006/motions/hands_mano.npz b/actions/locomotion_primitives/P19/session_006/motions/hands_mano.npz
new file mode 100644
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--- /dev/null
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+size 2676479
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--- a/actions/locomotion_primitives/P19/session_006/motions/smplx.npz
+++ b/actions/locomotion_primitives/P19/session_006/motions/smplx.npz
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diff --git a/actions/locomotion_primitives/P19/session_007/annotations.json b/actions/locomotion_primitives/P19/session_007/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..46e0bcb19f384bc9e8e55f17c4a53332f88aa595
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_007/annotations.json
@@ -0,0 +1,171 @@
+{
+ "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": "P19",
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+}
diff --git a/actions/locomotion_primitives/P19/session_007/cameras/slam.npz b/actions/locomotion_primitives/P19/session_007/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1299d247184d9a49933bf84b847210db1a60bfd1
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_007/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/actions/locomotion_primitives/P19/session_007/meta.json b/actions/locomotion_primitives/P19/session_007/meta.json
index 5ffb32a4315af3b1999c14a1f91b4a8f5eef577f..f8760928f92d1bb052a6706c4b21ba02020a1fda 100644
--- a/actions/locomotion_primitives/P19/session_007/meta.json
+++ b/actions/locomotion_primitives/P19/session_007/meta.json
@@ -328,8 +328,8 @@
   "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,
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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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@@ -516,10 +516,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.7509570993444759
  },
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+  "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",
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+ },
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   "family": "locomotion_primitives",
   "primitive": "P19",
   "source_session": "20260912/P19/20260912_021129_session15"
+ },
+ "task": {
+  "primitive": "P19",
+  "instruction": "Walk; turn 90\u00b0 left/right; walk several steps; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P19/session_007/motions/hands_mano.npz b/actions/locomotion_primitives/P19/session_007/motions/hands_mano.npz
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index 0000000000000000000000000000000000000000..86ff8d9b543ee0fb077bfd255116c4cab4fc3dac
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new file mode 100644
index 0000000000000000000000000000000000000000..fbe6bbde99d50f3ef896b090f6664186f6813f3a
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_008/annotations.json
@@ -0,0 +1,149 @@
+{
+ "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": "P19",
+ "instruction": "Walk; turn 90° left/right; walk several steps; stop.",
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+ ]
+}
diff --git a/actions/locomotion_primitives/P19/session_008/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P19/session_008/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9ea77a81f686478ccefdaf752791c688927a822
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_008/cameras/gsi_online_calibration.json
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+{
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+  "median_px": 0.332
+ },
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+ "factory_root_name": "e17c9efadb69e7b1",
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+ "kind": "online_calibration",
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+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
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+  "left_front": 37.075,
+  "right": 38.172,
+  "right_eye": 29.153,
+  "right_front": 35.697
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+ "selection": {
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+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P19/session_008/cameras/slam.npz b/actions/locomotion_primitives/P19/session_008/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..715ab76e15cba92ce72ac6ac715f467ce66e443a
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_008/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 940793
diff --git a/actions/locomotion_primitives/P19/session_008/meta.json b/actions/locomotion_primitives/P19/session_008/meta.json
index a0b1f66a91f2669ddf8e562184d4adfdca1436ba..c414935400409a49faea6347f97ff44e4aeddbac 100644
--- a/actions/locomotion_primitives/P19/session_008/meta.json
+++ b/actions/locomotion_primitives/P19/session_008/meta.json
@@ -328,8 +328,8 @@
   "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": {
@@ -519,10 +519,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.7076262962220532
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     -0.042,
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+     "median": 13.71,
+     "p90": 30.25
+    },
+    "samples": 3744,
+    "accepted": 3358,
+    "wrist_pos_err_mm_median": 49.5,
+    "per_camera": {
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+      "accepted": 3358,
+      "gate_deg": 30.0,
+      "offset_deg": 11.51,
+      "tier": "primary",
+      "dev_deg_median": 13.71,
+      "wrist_pos_err_mm_median": 49.5
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 5070,
+     "mean_hand": 916,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9535,
+    "observed_fraction_of_valid": 0.9535,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.52,
+     "smplx": 0.41
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 12.9
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+     "p90": 38.05
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+    "accepted": 1838,
+    "wrist_pos_err_mm_median": 85.2,
+    "per_camera": {
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+      "accepted": 1838,
+      "gate_deg": 30.0,
+      "offset_deg": 10.85,
+      "tier": "primary",
+      "dev_deg_median": 14.65,
+      "wrist_pos_err_mm_median": 85.2
+     }
+    },
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+     "interpolated": 5718,
+     "mean_hand": 6472,
+     "no_body_fit": 0
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+    "observed_fraction": 0.6712,
+    "observed_fraction_of_valid": 0.6712,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 15.32,
+     "smplx": 0.89
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+    "hand_marker_to_mesh_mm": {
+     "flat": {
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+      "p90": 12.7
+     },
+     "registered": {
+      "median": 9.0,
+      "p90": 14.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:29:59.849547+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_008",
   "family": "locomotion_primitives",
   "primitive": "P19",
   "source_session": "20260912/P19/20260912_074528_session48"
+ },
+ "task": {
+  "primitive": "P19",
+  "instruction": "Walk; turn 90\u00b0 left/right; walk several steps; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P19/session_008/motions/hands_mano.npz b/actions/locomotion_primitives/P19/session_008/motions/hands_mano.npz
new file mode 100644
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--- /dev/null
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+size 4236636
diff --git a/actions/locomotion_primitives/P19/session_008/motions/smplx.npz b/actions/locomotion_primitives/P19/session_008/motions/smplx.npz
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--- a/actions/locomotion_primitives/P19/session_008/motions/smplx.npz
+++ b/actions/locomotion_primitives/P19/session_008/motions/smplx.npz
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diff --git a/actions/locomotion_primitives/P19/session_009/annotations.json b/actions/locomotion_primitives/P19/session_009/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..9861fda934f5bf1785315f64653259e6ff2e74a7
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_009/annotations.json
@@ -0,0 +1,127 @@
+{
+ "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": "P19",
+ "instruction": "Walk; turn 90° left/right; walk several steps; stop.",
+ "segments": [
+  {
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+   "video": "left_eye",
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+  }
+ ],
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+   "instruction": "Walk; turn 90° left/right; walk several steps; stop."
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+   "end_s": 17.578,
+   "t_start": 10.6579,
+   "t_end": 17.6169,
+   "instruction": "Walk; turn 90° left/right; walk several steps; stop."
+  },
+  {
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+   "t_end": 25.9259,
+   "instruction": "Walk; turn 90° left/right; walk several steps; stop."
+  },
+  {
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+   "instruction": "Walk; turn 90° left/right; walk several steps; stop."
+  },
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+   "instruction": "Walk; turn 90° left/right; walk several steps; stop."
+  },
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+   "action": "P19",
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+   "end_s": 56.677,
+   "t_start": 49.6599,
+   "t_end": 56.7159,
+   "instruction": "Walk; turn 90° left/right; walk several steps; stop."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P19",
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+   "t_start": 58.9299,
+   "t_end": 67.5209,
+   "instruction": "Walk; turn 90° left/right; walk several steps; stop."
+  },
+  {
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+   "segment": "segment1",
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+   "t_start": 70.4949,
+   "t_end": 77.5019,
+   "instruction": "Walk; turn 90° left/right; walk several steps; stop."
+  },
+  {
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+   "segment": "segment1",
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+   "t_start": 81.4069,
+   "t_end": 88.0289,
+   "instruction": "Walk; turn 90° left/right; walk several steps; stop."
+  },
+  {
+   "id": "0543e2fe-1384-4cc4-81df-26a8e3dbe9e5",
+   "segment": "segment1",
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+   "end_s": 100.326,
+   "t_start": 93.4689,
+   "t_end": 100.3649,
+   "instruction": "Walk; turn 90° left/right; walk several steps; stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P19/session_009/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P19/session_009/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..46f2d82f210ad2814fe4b8b4f7c1b69dfeb9c2a5
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_009/cameras/gsi_online_calibration.json
@@ -0,0 +1,256 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.35
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.0704,
+   "gate_fail": [],
+   "held_out_px_after": 0.538,
+   "held_out_px_before": 4.37,
+   "inliers": 2187,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.4828,
+    -0.2919,
+    -0.9097
+   ],
+   "split_deg": 0.0287,
+   "usable": true
+  },
+  "left_eye": {
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+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.7534,
+   "gate_fail": [],
+   "held_out_px_after": 0.375,
+   "held_out_px_before": 4.653,
+   "inliers": 4043,
+   "position_fitted": true,
+   "position_mm": [
+    2.39,
+    -5.77,
+    5.73
+   ],
+   "position_sigma_mm": 0.333,
+   "position_split_mm": 3.34,
+   "rotvec_deg": [
+    0.2008,
+    0.5995,
+    -1.6355
+   ],
+   "split_deg": 0.0518,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+   "held_out_px_before": 4.35,
+   "inliers": 1976,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.3976,
+    -0.091,
+    0.2246
+   ],
+   "split_deg": 0.0517,
+   "usable": true
+  },
+  "right_eye": {
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
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+   "held_out_px_after": 0.357,
+   "held_out_px_before": 3.387,
+   "inliers": 4099,
+   "position_fitted": true,
+   "position_mm": [
+    7.63,
+    -6.36,
+    5.75
+   ],
+   "position_sigma_mm": 0.324,
+   "position_split_mm": 1.992,
+   "rotvec_deg": [
+    0.4227,
+    -0.491,
+    -0.3296
+   ],
+   "split_deg": 0.0451,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.3945,
+   "gate_fail": [],
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+   "held_out_px_before": 4.372,
+   "inliers": 5501,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3817,
+    -0.0265,
+    -1.3409
+   ],
+   "split_deg": 0.0175,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "5d9b30bdf464d495730d371f97f02c431140865f96a9a13704787b5e3c0204e8",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "23906566dd0b1a718baa202c45028d26adb35a3e108c05faadc3cc9da03936a5",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "837e6c764117d31ea2921ca647f7d02b71708048ad66ec5c915d4b4c91fd114b",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "e78d1405e1a8c1c13764f632a433b30444cf0341684fb32d2b95a61e5537586a",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "cd327b66a26ced86",
+ "kind": "online_calibration",
+ "output_sha256": "0f9579209c075e3c70da0d18a2f2525e7077930f43af1717a356f982e90a7cab",
+ "overlap": {
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+  "left_eye-left": 0.707,
+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 35.586,
+  "left_eye": 30.123,
+  "left_front": 41.38,
+  "right": 36.589,
+  "right_eye": 31.071,
+  "right_front": 40.074
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P19/session_009/cameras/slam.npz b/actions/locomotion_primitives/P19/session_009/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..703e453179434cda0ad1945eef6f8cf557e92276
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_009/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e38c1d1d94df2b8cf747c5b5a165118d926e062f0861306f3fbffc62e361b208
+size 624713
diff --git a/actions/locomotion_primitives/P19/session_009/meta.json b/actions/locomotion_primitives/P19/session_009/meta.json
index 543c55a99586673cc96babade3871dbcc51dc0c9..e04ce38f090136b716968a032b2db44e8d6568dd 100644
--- a/actions/locomotion_primitives/P19/session_009/meta.json
+++ b/actions/locomotion_primitives/P19/session_009/meta.json
@@ -329,8 +329,8 @@
   "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": {
@@ -509,10 +509,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.1619361103936536
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 4.71,
+    "offset_rotvec": [
+     -0.0752,
+     -0.0291,
+     0.0159
+    ],
+    "dev_deg": {
+     "median": 10.36,
+     "p90": 19.92
+    },
+    "samples": 3204,
+    "accepted": 3127,
+    "wrist_pos_err_mm_median": 42.2,
+    "per_camera": {
+     "head": {
+      "samples": 3204,
+      "accepted": 3127,
+      "gate_deg": 30.0,
+      "offset_deg": 4.71,
+      "tier": "primary",
+      "dev_deg_median": 10.36,
+      "wrist_pos_err_mm_median": 42.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12594,
+     "interpolated": 478,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9991,
+    "observed_fraction_of_valid": 0.9991,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 10.69,
+     "smplx": 0.38
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.3,
+      "p90": 7.7
+     },
+     "registered": {
+      "median": 8.5,
+      "p90": 9.6
+     }
+    }
+   },
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+    "offset_rotvec": [
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+     0.2648,
+     -0.0707
+    ],
+    "dev_deg": {
+     "median": 14.17,
+     "p90": 27.37
+    },
+    "samples": 2664,
+    "accepted": 2465,
+    "wrist_pos_err_mm_median": 70.1,
+    "per_camera": {
+     "head": {
+      "samples": 2664,
+      "accepted": 2465,
+      "gate_deg": 30.0,
+      "offset_deg": 15.9,
+      "tier": "primary",
+      "dev_deg_median": 14.17,
+      "wrist_pos_err_mm_median": 70.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10116,
+     "interpolated": 2788,
+     "mean_hand": 180,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9862,
+    "observed_fraction_of_valid": 0.9862,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 19.36,
+     "smplx": 0.32
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.6,
+      "p90": 9.7
+     },
+     "registered": {
+      "median": 7.4,
+      "p90": 8.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T23:03:00.157491+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_009",
   "family": "locomotion_primitives",
   "primitive": "P19",
   "source_session": "20260917/P19/20260917_021711_session20"
+ },
+ "task": {
+  "primitive": "P19",
+  "instruction": "Walk; turn 90\u00b0 left/right; walk several steps; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P19/session_009/motions/hands_mano.npz b/actions/locomotion_primitives/P19/session_009/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..19d35066109570c64815f2412c4657484da8d488
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_009/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b738d8a9d967363937390434c4b4fcc0b500b92541cca9946ad69dd0dba30d6
+size 3981702
diff --git a/actions/locomotion_primitives/P19/session_009/motions/smplx.npz b/actions/locomotion_primitives/P19/session_009/motions/smplx.npz
index 40b8d07401f8e465dd0918325f0d9b7c0eaf2f0f..1a462676722d47973c89b2a76eb4dc3f9f1d77ef 100644
--- a/actions/locomotion_primitives/P19/session_009/motions/smplx.npz
+++ b/actions/locomotion_primitives/P19/session_009/motions/smplx.npz
@@ -1,3 +1,3 @@
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-oid sha256:2737a58f18b03ab9dadc79420d8c94df1826c778776815dfaa20364e7db33ebb
-size 5004711
+oid sha256:fbd88aeddd9a946c4d39ca02e01c94a116bf96710ef8cc810db88478d3a11439
+size 9385049
diff --git a/actions/locomotion_primitives/P19/session_010/annotations.json b/actions/locomotion_primitives/P19/session_010/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b3d6c741cff156f882bcf96b93c25c1cbef7599
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_010/annotations.json
@@ -0,0 +1,149 @@
+{
+ "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": "P19",
+ "instruction": "Walk; turn 90° left/right; walk several steps; stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 103.966689,
+   "video": "left_eye",
+   "video_t_start": 0.03930622414676943
+  }
+ ],
+ "episodes": [
+  {
+   "id": "2d17abf5-c9b7-4e8c-a192-3c2dbc9108f9",
+   "segment": "segment1",
+   "action": "P19",
+   "quality": "valid",
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+}
diff --git a/actions/locomotion_primitives/P19/session_010/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P19/session_010/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..3084441de7bd2b6129c6eebbf3e61f80cd9a3b6c
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_010/cameras/gsi_online_calibration.json
@@ -0,0 +1,255 @@
+{
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P19/session_010/cameras/slam.npz b/actions/locomotion_primitives/P19/session_010/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a409f56ea8d5f1709aefd87eae8e1374b3c14515
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 599565
diff --git a/actions/locomotion_primitives/P19/session_010/meta.json b/actions/locomotion_primitives/P19/session_010/meta.json
index 56a7c35383f66bb6435dd92170e636bfbf093e6f..e76f0018764a9bb9373a6baa5037478878c5821c 100644
--- a/actions/locomotion_primitives/P19/session_010/meta.json
+++ b/actions/locomotion_primitives/P19/session_010/meta.json
@@ -516,5 +516,9 @@
   "family": "locomotion_primitives",
   "primitive": "P19",
   "source_session": "20260917/P19/20260917_075503_session124"
+ },
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  }
 }
diff --git a/actions/locomotion_primitives/P19/session_010/motions/hands_mano.npz b/actions/locomotion_primitives/P19/session_010/motions/hands_mano.npz
new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_010/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3104831
diff --git a/actions/locomotion_primitives/P19/session_011/annotations.json b/actions/locomotion_primitives/P19/session_011/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd702b49b8850b6e9142d7d3d59e80b8544f6e06
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_011/annotations.json
@@ -0,0 +1,127 @@
+{
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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",
+ "primitive": "P19",
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P19/session_011/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P19/session_011/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c4931612acd560f235fe678f14459c234d77a6b
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_011/cameras/gsi_online_calibration.json
@@ -0,0 +1,252 @@
+{
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+ },
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+    "left_front",
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+    "left",
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+  },
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+    "left_eye",
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+    "right"
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+    5.6
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+   "position_split_mm": 3.489,
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+    -0.4936,
+    -0.3481
+   ],
+   "split_deg": 0.1017,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
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+    "right_eye",
+    "left",
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+    -1.3148
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+  }
+ },
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+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
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+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
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+  },
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+  },
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+  }
+ },
+ "input_fingerprint": "bb036e5ac1bae605",
+ "kind": "online_calibration",
+ "output_sha256": "8fa0d59000b6aa427a97bed277970061ec610d4e87de4ddf2a9db3d139a2a831",
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+  "right_front-right_eye": 0.734
+ },
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+  "left_front": 27.439,
+  "right": 35.808,
+  "right_eye": 23.65,
+  "right_front": 27.356
+ },
+ "runtime": {
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+  "opencv": "5.0.0",
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+ },
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+ "selection": {
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P19/session_011/cameras/slam.npz b/actions/locomotion_primitives/P19/session_011/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bcbee213ba1b745e5f74c60f0da37bf443d13fe3
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_011/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0ea11e049d3a5b5e9068a5e28f21cd4a1399b4e89a991621112447b127c57ed
+size 513938
diff --git a/actions/locomotion_primitives/P19/session_011/meta.json b/actions/locomotion_primitives/P19/session_011/meta.json
index 010b938e50f4da844bd6af401ff0e9d8db0569fa..a65300942cf6deb9df1346ed1d7f7570faac781f 100644
--- a/actions/locomotion_primitives/P19/session_011/meta.json
+++ b/actions/locomotion_primitives/P19/session_011/meta.json
@@ -514,5 +514,9 @@
   "family": "locomotion_primitives",
   "primitive": "P19",
   "source_session": "20260917/P19/20260917_103637_session172"
+ },
+ "task": {
+  "primitive": "P19",
+  "instruction": "Walk; turn 90\u00b0 left/right; walk several steps; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P19/session_011/motions/hands_mano.npz b/actions/locomotion_primitives/P19/session_011/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..44f852b949013206d2580ae5959b9b7861b2efff
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_011/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f6c2a5964b9b769dc25c6dda3819b94c657a8b79ed2c25f77082edac4442fbc
+size 2224411
diff --git a/actions/locomotion_primitives/P19/session_012/annotations.json b/actions/locomotion_primitives/P19/session_012/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..06adb7b0f863b5fa256530c23ef35a0b09d77377
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_012/annotations.json
@@ -0,0 +1,149 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 2)",
+ "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": "P19",
+ "instruction": "Walk; turn 90° left/right; walk several steps; stop.",
+ "segments": [
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+   "video": "left_eye",
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+  }
+ ],
+ "episodes": [
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+  },
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+   "instruction": "Walk; turn 90° left/right; walk several steps; stop."
+  },
+  {
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+   "t_start": 80.0441,
+   "t_end": 85.7331,
+   "instruction": "Walk; turn 90° left/right; walk several steps; stop."
+  },
+  {
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+   "segment": "segment1",
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P19/session_012/cameras/slam.npz b/actions/locomotion_primitives/P19/session_012/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..55d3eb971271d772c8e3643cfc5e29b5cd51d82b
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_012/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3b138cfc5a7ca67ab965b1a474a61532696625d003238258f6b87bc457fa612
+size 570453
diff --git a/actions/locomotion_primitives/P19/session_012/meta.json b/actions/locomotion_primitives/P19/session_012/meta.json
index cf5176f600879ad2eb6042f2ec6d2a2670f2d2b3..f23ca8f49c88654a4dc9fe5afb72aa47e4b04d07 100644
--- a/actions/locomotion_primitives/P19/session_012/meta.json
+++ b/actions/locomotion_primitives/P19/session_012/meta.json
@@ -327,8 +327,8 @@
   "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": {
@@ -525,10 +525,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.013631690562388
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 13.51,
+    "offset_rotvec": [
+     0.1587,
+     0.0029,
+     -0.1745
+    ],
+    "dev_deg": {
+     "median": 9.19,
+     "p90": 22.08
+    },
+    "samples": 1687,
+    "accepted": 1616,
+    "wrist_pos_err_mm_median": 200.6,
+    "per_camera": {
+     "head": {
+      "samples": 1687,
+      "accepted": 1616,
+      "gate_deg": 30.0,
+      "offset_deg": 13.51,
+      "tier": "primary",
+      "dev_deg_median": 9.19,
+      "wrist_pos_err_mm_median": 200.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 6719,
+     "interpolated": 4828,
+     "mean_hand": 217,
+     "no_body_fit": 120
+    },
+    "observed_fraction": 0.9716,
+    "observed_fraction_of_valid": 0.9816,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 16.18,
+     "smplx": 0.38
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.9,
+      "p90": 12.4
+     },
+     "registered": {
+      "median": 10.0,
+      "p90": 12.7
+     }
+    }
+   },
+   "right": {
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+    "offset_rotvec": [
+     -0.0424,
+     -0.0901,
+     0.2358
+    ],
+    "dev_deg": {
+     "median": 19.02,
+     "p90": 36.4
+    },
+    "samples": 1988,
+    "accepted": 1549,
+    "wrist_pos_err_mm_median": 356.0,
+    "per_camera": {
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+      "accepted": 1549,
+      "gate_deg": 30.0,
+      "offset_deg": 14.66,
+      "tier": "primary",
+      "dev_deg_median": 19.02,
+      "wrist_pos_err_mm_median": 356.0
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 4566,
+     "mean_hand": 777,
+     "no_body_fit": 120
+    },
+    "observed_fraction": 0.9245,
+    "observed_fraction_of_valid": 0.934,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 18.1,
+     "smplx": 0.6
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.7,
+      "p90": 6.2
+     },
+     "registered": {
+      "median": 6.1,
+      "p90": 6.8
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:59:46.777108+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_012",
   "family": "locomotion_primitives",
   "primitive": "P19",
   "source_session": "20260918/P19/20260918_014644_session19"
+ },
+ "task": {
+  "primitive": "P19",
+  "instruction": "Walk; turn 90\u00b0 left/right; walk several steps; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P19/session_012/motions/hands_mano.npz b/actions/locomotion_primitives/P19/session_012/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f66a3f60093b46f109c0fc183e3f9645251b56ea
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_012/motions/hands_mano.npz
@@ -0,0 +1,3 @@
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+size 2590558
diff --git a/actions/locomotion_primitives/P19/session_012/motions/smplx.npz b/actions/locomotion_primitives/P19/session_012/motions/smplx.npz
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--- a/actions/locomotion_primitives/P19/session_012/motions/smplx.npz
+++ b/actions/locomotion_primitives/P19/session_012/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P19/session_013/annotations.json b/actions/locomotion_primitives/P19/session_013/annotations.json
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index 0000000000000000000000000000000000000000..4e0085d3f0cf6e4a9831224757a022c116f8702d
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_013/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": "P19",
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+}
diff --git a/actions/locomotion_primitives/P19/session_013/cameras/slam.npz b/actions/locomotion_primitives/P19/session_013/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f398288b0c116e91d204ba55a4786a83f8939725
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_013/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ca35ddd6e5c0a20f126c7379b41e949aa3bb2d5989f4d729e8fb35cf1976738
+size 568750
diff --git a/actions/locomotion_primitives/P19/session_013/meta.json b/actions/locomotion_primitives/P19/session_013/meta.json
index bdb7ff6821367f48e623372fbaf94766e62018d8..5804ae31bd91028054561c5330759dd692bdc12c 100644
--- a/actions/locomotion_primitives/P19/session_013/meta.json
+++ b/actions/locomotion_primitives/P19/session_013/meta.json
@@ -341,8 +341,8 @@
   "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": {
@@ -534,10 +534,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.021846874796785
  },
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+     0.0296,
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+    "accepted": 2336,
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+      "tier": "primary",
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+    "palm_axis_vs_markers_deg": {
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+  "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_013",
   "family": "locomotion_primitives",
   "primitive": "P19",
   "source_session": "20260921/P19/20260921_013458_session17"
+ },
+ "task": {
+  "primitive": "P19",
+  "instruction": "Walk; turn 90\u00b0 left/right; walk several steps; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P19/session_013/motions/hands_mano.npz b/actions/locomotion_primitives/P19/session_013/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..75e5b6fe88aa9ea3260bd9b4d5e253bff7412a2f
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 3206970
diff --git a/actions/locomotion_primitives/P19/session_013/motions/smplx.npz b/actions/locomotion_primitives/P19/session_013/motions/smplx.npz
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--- a/actions/locomotion_primitives/P19/session_013/motions/smplx.npz
+++ b/actions/locomotion_primitives/P19/session_013/motions/smplx.npz
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index 0000000000000000000000000000000000000000..5dd7c2437af7de91ac454185600bcb7e245a0ed1
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_014/annotations.json
@@ -0,0 +1,149 @@
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+ "primitive": "P19",
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+}
diff --git a/actions/locomotion_primitives/P19/session_014/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P19/session_014/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6706b82633014438a86e13f3afcf4a18e7fa232
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_014/cameras/gsi_online_calibration.json
@@ -0,0 +1,257 @@
+{
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+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "250ac1396b785c3d6cc8e94fe4cc4848d3115e71aca2e50fb99c81f8fdaae24c",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
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+   "sha256": "c8bf0e6c8ec9e6b800daf87daa3847ddc71b0901d219b58b41bfde19f9207904",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "c3bbfff21ebe06e3",
+ "kind": "online_calibration",
+ "output_sha256": "5c671597a606dcc5970f5558e7b8089cec99f94645dc17a8344679d902aa41e4",
+ "overlap": {
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+  "left_front-left_eye": 0.72,
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+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 32.145,
+  "left_eye": 24.625,
+  "left_front": 36.79,
+  "right": 32.329,
+  "right_eye": 26.029,
+  "right_front": 33.629
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P19/session_014/cameras/slam.npz b/actions/locomotion_primitives/P19/session_014/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8b7b1df37d367bad6ca0e905a815f2584a77a418
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_014/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0b286b3a45c7f15031246d28ec72bb77239336e760cc01b882feda358e0a6f5
+size 798915
diff --git a/actions/locomotion_primitives/P19/session_014/meta.json b/actions/locomotion_primitives/P19/session_014/meta.json
index 3da7c47be11345bb30e1574294234ae2896fa561..f73198ecbe0d3cf996f850ca2ef0791f96ea3d26 100644
--- a/actions/locomotion_primitives/P19/session_014/meta.json
+++ b/actions/locomotion_primitives/P19/session_014/meta.json
@@ -326,8 +326,8 @@
   "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": {
@@ -524,10 +524,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.9862771157310946
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     0.619,
+     -0.38,
+     -0.0525
+    ],
+    "dev_deg": {
+     "median": 11.72,
+     "p90": 25.25
+    },
+    "samples": 3046,
+    "accepted": 2828,
+    "wrist_pos_err_mm_median": 95.2,
+    "per_camera": {
+     "head": {
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+      "accepted": 2828,
+      "gate_deg": 30.0,
+      "offset_deg": 41.73,
+      "tier": "primary",
+      "dev_deg_median": 11.72,
+      "wrist_pos_err_mm_median": 95.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11680,
+     "interpolated": 4632,
+     "mean_hand": 372,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9777,
+    "observed_fraction_of_valid": 0.9777,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 43.63,
+     "smplx": 0.44
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
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+      "p90": 9.9
+     },
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+      "p90": 8.1
+     }
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+     "p90": 33.44
+    },
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+    "accepted": 2002,
+    "wrist_pos_err_mm_median": 293.3,
+    "per_camera": {
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+      "accepted": 2002,
+      "gate_deg": 30.0,
+      "offset_deg": 38.66,
+      "tier": "primary",
+      "dev_deg_median": 19.64,
+      "wrist_pos_err_mm_median": 293.3
+     }
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+     "no_body_fit": 0
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+    "observed_fraction_of_valid": 0.9146,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.55
+    },
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+      "p90": 5.4
+     },
+     "registered": {
+      "median": 6.5,
+      "p90": 7.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:38:08.240683+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_014",
   "family": "locomotion_primitives",
   "primitive": "P19",
   "source_session": "20260923/P19/20260923_073644_session59"
+ },
+ "task": {
+  "primitive": "P19",
+  "instruction": "Walk; turn 90\u00b0 left/right; walk several steps; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P19/session_014/motions/hands_mano.npz b/actions/locomotion_primitives/P19/session_014/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8ef44e8c077fda4bf0fe6d9e168557f7eae52f91
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_014/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a45d766131ea7a15b6767550de95e0be644e97f7ac54701a17d7f5e19265a300
+size 3732261
diff --git a/actions/locomotion_primitives/P19/session_014/motions/smplx.npz b/actions/locomotion_primitives/P19/session_014/motions/smplx.npz
index 3a618a7c4853f0d313ae8c2df6d4b81a5d377cb8..b310806f5c0c17e9240d0e84c3007792efe80afd 100644
--- a/actions/locomotion_primitives/P19/session_014/motions/smplx.npz
+++ b/actions/locomotion_primitives/P19/session_014/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1c57287f503d7775bc44e27d4775e921372b1651a6bc5bb5b97bb9c61bc2da95
-size 6394761
+oid sha256:e1ea3b37de441c5839334c49e7d90efffa8573628635599bde70c46101f80430
+size 11799038
diff --git a/actions/locomotion_primitives/P19/session_015/annotations.json b/actions/locomotion_primitives/P19/session_015/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ca164abec1a705fff854225989bc45acf7f0045
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_015/annotations.json
@@ -0,0 +1,149 @@
+{
+ "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": "P19",
+ "instruction": "Walk; turn 90° left/right; walk several steps; stop.",
+ "segments": [
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+   "duration_s": 113.966633,
+   "video": "left_eye",
+   "video_t_start": 0.03964916400231555
+  }
+ ],
+ "episodes": [
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+   "t_end": 94.3566,
+   "instruction": "Walk; turn 90° left/right; walk several steps; stop."
+  },
+  {
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+   "segment": "segment1",
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+   "t_end": 101.9016,
+   "instruction": "Walk; turn 90° left/right; walk several steps; stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P19/session_015/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P19/session_015/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..527890d5afa818bc35dd5b1bb959445c3b2b36a2
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_015/cameras/gsi_online_calibration.json
@@ -0,0 +1,259 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.369
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
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+   ],
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+   "gate_fail": [],
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+   ],
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+   "usable": true
+  },
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+   "against": [
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+    "right_eye",
+    "left",
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+    -2.2609
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+  "left_front": {
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+   "against": [
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+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
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+  },
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+  }
+ },
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+  "right_front-right_eye": 0.734
+ },
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+  "left_front": 37.227,
+  "right": 36.377,
+  "right_eye": 27.266,
+  "right_front": 35.661
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+ "runtime": {
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+  "opencv": "5.0.0",
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+}
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diff --git a/actions/locomotion_primitives/P19/session_015/cameras/slam.npz b/actions/locomotion_primitives/P19/session_015/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c3273870155aeaaf4ed625a42bf96ec376b65bd5
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_015/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a990d89f4982edcf4b0a8a1293acd3035cc71752e3abe0959b3234d5f6692e29
+size 656438
diff --git a/actions/locomotion_primitives/P19/session_015/meta.json b/actions/locomotion_primitives/P19/session_015/meta.json
index a6e7debd04c67d6c85a7fd2c5ca4f0960869457b..ff489b025921564366d9dd6d79d1575c64777208 100644
--- a/actions/locomotion_primitives/P19/session_015/meta.json
+++ b/actions/locomotion_primitives/P19/session_015/meta.json
@@ -340,8 +340,8 @@
   "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": {
@@ -521,10 +521,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.0014151835103124
  },
+ "hands_registration": {
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+     -0.0925
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+     "p90": 37.62
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+    "accepted": 2551,
+    "wrist_pos_err_mm_median": 76.7,
+    "per_camera": {
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+      "accepted": 2551,
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+      "offset_deg": 10.08,
+      "tier": "primary",
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+     }
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+     "interpolated": 2789,
+     "mean_hand": 480,
+     "no_body_fit": 28
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+    "observed_fraction_of_valid": 0.9649,
+    "palm_axis_vs_markers_deg": {
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+      "p90": 29.3
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+   }
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:32:41.326036+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": "P19",
   "source_session": "20260925/P19/20260925_010347_session12"
+ },
+ "task": {
+  "primitive": "P19",
+  "instruction": "Walk; turn 90\u00b0 left/right; walk several steps; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P19/session_015/motions/hands_mano.npz b/actions/locomotion_primitives/P19/session_015/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3e967d4b48677a19bc2d12e0a4e384950286e257
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_015/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0d5e7574fbc187b00b0327ab3222d27b2e6ee0ea6a978cf40d4a035a226452e
+size 3705662
diff --git a/actions/locomotion_primitives/P19/session_015/motions/smplx.npz b/actions/locomotion_primitives/P19/session_015/motions/smplx.npz
index 192e35d3a7309d0563d3ca8462a88c73259290c6..1e8ebb24a786626821e1c91d6bdc3728f8792b98 100644
--- a/actions/locomotion_primitives/P19/session_015/motions/smplx.npz
+++ b/actions/locomotion_primitives/P19/session_015/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 5266306
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diff --git a/actions/locomotion_primitives/P19/session_016/annotations.json b/actions/locomotion_primitives/P19/session_016/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..6879e79c117127198cd48029880117e807617241
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_016/annotations.json
@@ -0,0 +1,127 @@
+{
+ "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": "P19",
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+  }
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+ ]
+}
diff --git a/actions/locomotion_primitives/P19/session_016/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P19/session_016/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..80244210fd3ce7ff79b48fb76295ca6da6e70f84
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_016/cameras/gsi_online_calibration.json
@@ -0,0 +1,256 @@
+{
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+ },
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+   "against": [
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+    "right_eye",
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+ "files": {
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+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "002b7a53fcc4e6288733c75669db9484c8de7c2c716fb10374de798b5b87e0b0",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
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+  }
+ },
+ "input_fingerprint": "4f03d82461e4193a",
+ "kind": "online_calibration",
+ "output_sha256": "8ec0eb51cb11d1803ac8ceaa024c431794f21841dfdddd885ddf20c748909430",
+ "overlap": {
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+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
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+  "left_eye": 27.189,
+  "left_front": 38.728,
+  "right": 33.655,
+  "right_eye": 26.101,
+  "right_front": 36.184
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
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+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P19/session_016/cameras/slam.npz b/actions/locomotion_primitives/P19/session_016/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ce0e09a61bc8ea6d1283e97aafab708394134532
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_016/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:285fd2385945c002783e01e4fec4bbb921cc537d8344ecd5c1b88ad5146b19b6
+size 884221
diff --git a/actions/locomotion_primitives/P19/session_016/meta.json b/actions/locomotion_primitives/P19/session_016/meta.json
index 5e799240399351d8dc8c83f88b1f63ddb7e55105..a2a326361bd593458616a89134297cb7e55024e8 100644
--- a/actions/locomotion_primitives/P19/session_016/meta.json
+++ b/actions/locomotion_primitives/P19/session_016/meta.json
@@ -326,8 +326,8 @@
   "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": {
@@ -519,10 +519,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.0957994825312214
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     0.6198,
+     -0.3796,
+     -0.0379
+    ],
+    "dev_deg": {
+     "median": 15.94,
+     "p90": 30.92
+    },
+    "samples": 2317,
+    "accepted": 2060,
+    "wrist_pos_err_mm_median": 204.2,
+    "per_camera": {
+     "head": {
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+      "accepted": 2060,
+      "gate_deg": 30.0,
+      "offset_deg": 41.7,
+      "tier": "primary",
+      "dev_deg_median": 15.94,
+      "wrist_pos_err_mm_median": 204.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 8590,
+     "interpolated": 7086,
+     "mean_hand": 2808,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.8481,
+    "observed_fraction_of_valid": 0.8481,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 44.84,
+     "smplx": 0.68
+    },
+    "hand_marker_to_mesh_mm": {
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+      "median": 5.5,
+      "p90": 9.1
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+     }
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+     "p90": 28.46
+    },
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+    "accepted": 1492,
+    "wrist_pos_err_mm_median": 432.4,
+    "per_camera": {
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+      "accepted": 1492,
+      "gate_deg": 30.0,
+      "offset_deg": 17.65,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 432.4
+     }
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+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.48
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+      "p90": 11.3
+     },
+     "registered": {
+      "median": 9.1,
+      "p90": 13.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:29:43.775014+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_016",
   "family": "locomotion_primitives",
   "primitive": "P19",
   "source_session": "20260928/P19/20260928_075502_session31"
+ },
+ "task": {
+  "primitive": "P19",
+  "instruction": "Walk; turn 90\u00b0 left/right; walk several steps; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P19/session_016/motions/hands_mano.npz b/actions/locomotion_primitives/P19/session_016/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3d6e4992a8a314898ed6c16e22e9a24b3b9fd6c5
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_016/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1f69967e232de49fc3ea8e647579f151def79b2d3a06c1e1acc842c7b3572f9
+size 2827058
diff --git a/actions/locomotion_primitives/P19/session_016/motions/smplx.npz b/actions/locomotion_primitives/P19/session_016/motions/smplx.npz
index e57388377b29bc5e18565f8804ef1e45835a3057..5c144daffab7fc6aacaf3a116464737fedc0a5b4 100644
--- a/actions/locomotion_primitives/P19/session_016/motions/smplx.npz
+++ b/actions/locomotion_primitives/P19/session_016/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2b277d73ea60835466342ae2512b7a13808006e9abf468c49d59533f962cee0b
-size 7072291
+oid sha256:3d2d3e5c4976708d75d98b725fcc539533203ab9ecf2c459183d9fb4556c47ea
+size 12230257
diff --git a/actions/locomotion_primitives/P19/session_017/annotations.json b/actions/locomotion_primitives/P19/session_017/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dc1b22efaaba2741788c6560ac6bba228967d9d
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_017/annotations.json
@@ -0,0 +1,149 @@
+{
+ "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": "P19",
+ "instruction": "Walk; turn 90° left/right; walk several steps; stop.",
+ "segments": [
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+   "video": "left_eye",
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+  }
+ ],
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+   "t_start": 116.9286,
+   "t_end": 124.2706,
+   "instruction": "Walk; turn 90° left/right; walk several steps; stop."
+  },
+  {
+   "id": "d984104f-b7ee-4b8b-86d0-c2d99b57e81b",
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+   "t_end": 136.0766,
+   "instruction": "Walk; turn 90° left/right; walk several steps; stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P19/session_017/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P19/session_017/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..22c9270a2594cae814c463997d63f74ae225f081
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_017/cameras/gsi_online_calibration.json
@@ -0,0 +1,258 @@
+{
+ "camera_fit": {
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+  "groups_used": 14,
+  "median_px": 0.348
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
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+    "right_front",
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+    "right_eye"
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+  },
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+    "left_front",
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+    "right_eye",
+    "left",
+    "right"
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+   "position_mm": [
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+    -22.62,
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+   "position_split_mm": 8.227,
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+    1.8767
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+   "usable": true
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+  "left_front": {
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+   "against": [
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+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "85cdb2ef1266d294bc7ebd6613234825f05a6799732af5e44d7e6035b31808fe",
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+  },
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+   "sha256": "6c2ec0cf3eb8780dc213358b87f8926c571d83fe24858d895de4786854623758",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
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+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P19/session_017/cameras/slam.npz b/actions/locomotion_primitives/P19/session_017/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2e4d32d3307c9a355ba1b210a520a634ec5329ad
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_017/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 828325
diff --git a/actions/locomotion_primitives/P19/session_017/meta.json b/actions/locomotion_primitives/P19/session_017/meta.json
index eb23cf9f1015ec702a706cce537be23b94a1e1d2..25a9887ef98e0d3049c1ffb4a2a622c25fe2eab3 100644
--- a/actions/locomotion_primitives/P19/session_017/meta.json
+++ b/actions/locomotion_primitives/P19/session_017/meta.json
@@ -381,8 +381,8 @@
   "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": {
@@ -523,10 +523,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
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+     "no_body_fit": 0
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+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  "generated_at_utc": "2026-11-03T21:22:34.846852+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_017",
   "family": "locomotion_primitives",
   "primitive": "P19",
   "source_session": "20261019/P19/20261019_054758_session13"
+ },
+ "task": {
+  "primitive": "P19",
+  "instruction": "Walk; turn 90\u00b0 left/right; walk several steps; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P19/session_017/motions/hands_mano.npz b/actions/locomotion_primitives/P19/session_017/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9eefe145f2a5842bb39460143dc697d2af21108a
--- /dev/null
+++ b/actions/locomotion_primitives/P19/session_017/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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--- a/actions/locomotion_primitives/P19/session_017/motions/smplx.npz
+++ b/actions/locomotion_primitives/P19/session_017/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P20/session_001/annotations.json b/actions/locomotion_primitives/P20/session_001/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..c380bfd7f41f03756826b8908f55f513beabd0e2
--- /dev/null
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@@ -0,0 +1,127 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 1, revision 1)",
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+   "video": "left_eye",
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+}
diff --git a/actions/locomotion_primitives/P20/session_001/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P20/session_001/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a26799ffefe6706b3015ac944f48374233b6702
--- /dev/null
+++ b/actions/locomotion_primitives/P20/session_001/cameras/gsi_online_calibration.json
@@ -0,0 +1,265 @@
+{
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+}
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diff --git a/actions/locomotion_primitives/P20/session_001/cameras/slam.npz b/actions/locomotion_primitives/P20/session_001/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..22ea24ffe65692094aa2cafdee3c530634b7042c
--- /dev/null
+++ b/actions/locomotion_primitives/P20/session_001/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13f3a7b9999f306ec8641448a91f1f920905bbd5dc843b793dadfa853e243f75
+size 711616
diff --git a/actions/locomotion_primitives/P20/session_001/meta.json b/actions/locomotion_primitives/P20/session_001/meta.json
index d53be3c2df023c42e5682e634e6646cd55fe502e..7b4812f52d13a6a769a8103e5b7fe9e94ea56ad8 100644
--- a/actions/locomotion_primitives/P20/session_001/meta.json
+++ b/actions/locomotion_primitives/P20/session_001/meta.json
@@ -346,8 +346,8 @@
   "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": {
@@ -527,10 +527,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
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+  "generated_at_utc": "2026-11-03T12:33:13.256091+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",
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+ },
  "release": {
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   "family": "locomotion_primitives",
   "primitive": "P20",
   "source_session": "20260828/P20/20260828_071449_session34"
+ },
+ "task": {
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  }
 }
diff --git a/actions/locomotion_primitives/P20/session_001/motions/hands_mano.npz b/actions/locomotion_primitives/P20/session_001/motions/hands_mano.npz
new file mode 100644
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--- /dev/null
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new file mode 100644
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--- /dev/null
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+}
diff --git a/actions/locomotion_primitives/P20/session_002/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P20/session_002/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..4221868540a9c208f1c75cb2ed9bde691407bacb
--- /dev/null
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+}
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diff --git a/actions/locomotion_primitives/P20/session_002/cameras/slam.npz b/actions/locomotion_primitives/P20/session_002/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..256eb31c0fbab9d4a743528fd4fa8b8ab4103467
--- /dev/null
+++ b/actions/locomotion_primitives/P20/session_002/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8381fd6e21c9793b597781ebd888657174882cd0441f96a80ccda10ab284e625
+size 654191
diff --git a/actions/locomotion_primitives/P20/session_002/meta.json b/actions/locomotion_primitives/P20/session_002/meta.json
index 1206bfd90e8a45a5c540980a61c5c3f79b46999a..249698bff16ef0de269f459e9f48df2e30aa76af 100644
--- a/actions/locomotion_primitives/P20/session_002/meta.json
+++ b/actions/locomotion_primitives/P20/session_002/meta.json
@@ -347,8 +347,8 @@
   "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": {
@@ -534,10 +534,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
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+  "hands": {
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+     "p90": 16.95
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+    "accepted": 3137,
+    "wrist_pos_err_mm_median": 43.0,
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+      "tier": "primary",
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+     }
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+     "interpolated": 906,
+     "mean_hand": 128,
+     "no_body_fit": 0
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+    "observed_fraction_of_valid": 0.9906,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.5,
+     "smplx": 0.66
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+    "hand_marker_to_mesh_mm": {
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+    "accepted": 3013,
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+     }
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+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  ],
+  "generated_at_utc": "2026-11-03T12:35:52.630730+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/P20/session_002",
   "family": "locomotion_primitives",
   "primitive": "P20",
   "source_session": "20260828/P20/20260828_071703_session35"
+ },
+ "task": {
+  "primitive": "P20",
+  "instruction": "Follow S-shaped path continuously; no stopping between curves."
  }
 }
diff --git a/actions/locomotion_primitives/P20/session_002/motions/hands_mano.npz b/actions/locomotion_primitives/P20/session_002/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..68796c1827f5d4a7ddb50176bdf7c16f368c6059
--- /dev/null
+++ b/actions/locomotion_primitives/P20/session_002/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4acb4d0266ef215ba4b3ed7ba95e73eca5d8d9ac24198468bd2130e677733c0
+size 4290817
diff --git a/actions/locomotion_primitives/P20/session_002/motions/smplx.npz b/actions/locomotion_primitives/P20/session_002/motions/smplx.npz
index fa5a68897e5b660e8b3d59088883ae29fc1370ee..84047c44a3409a3a50b6af6df69a0530141c1d1c 100644
--- a/actions/locomotion_primitives/P20/session_002/motions/smplx.npz
+++ b/actions/locomotion_primitives/P20/session_002/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 5261568
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+size 9824444
diff --git a/actions/locomotion_primitives/P20/session_003/annotations.json b/actions/locomotion_primitives/P20/session_003/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6e61bcb5969f1eea657e164436360780c2e5e2b
--- /dev/null
+++ b/actions/locomotion_primitives/P20/session_003/annotations.json
@@ -0,0 +1,105 @@
+{
+ "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": "P20",
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+ ]
+}
diff --git a/actions/locomotion_primitives/P20/session_003/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P20/session_003/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..3801760a68d36ea5fd724b786afdbb9d181e17e3
--- /dev/null
+++ b/actions/locomotion_primitives/P20/session_003/cameras/gsi_online_calibration.json
@@ -0,0 +1,262 @@
+{
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+  "median_px": 0.351
+ },
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+   "accepted": true,
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+    0.1595,
+    0.2474
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+   "split_deg": 0.0538,
+   "usable": true
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+    "left",
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+   "position_fitted": true,
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+    8.81,
+    11.08
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+   "rotvec_deg": [
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+    0.3328,
+    -0.7889
+   ],
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+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
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+   "against": [
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+    "right_front",
+    "left_eye",
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+   "usable": true
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+  "right_eye": {
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+   "position_mm": [
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+    7.4,
+    9.85
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+    -0.1133,
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+  },
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+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
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+  },
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+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P20/session_003/cameras/slam.npz b/actions/locomotion_primitives/P20/session_003/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..737ca09aaa007c26722bdfa3ccbf947bc3808e8e
--- /dev/null
+++ b/actions/locomotion_primitives/P20/session_003/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddcd4aa298a7fda9e7675fe6a1821b94fe7a2cf4d271c9c2ff5fccb1a1221f98
+size 598237
diff --git a/actions/locomotion_primitives/P20/session_003/meta.json b/actions/locomotion_primitives/P20/session_003/meta.json
index dd9aa97c4af6ea505e52a26303ca2c300a4ec851..ac8035bfed2e88c4b3f9706aa5fb03f063cd7d87 100644
--- a/actions/locomotion_primitives/P20/session_003/meta.json
+++ b/actions/locomotion_primitives/P20/session_003/meta.json
@@ -346,8 +346,8 @@
   "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": {
@@ -522,10 +522,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 17.8,
+    "offset_rotvec": [
+     -0.1353,
+     -0.2774,
+     -0.0355
+    ],
+    "dev_deg": {
+     "median": 8.14,
+     "p90": 17.72
+    },
+    "samples": 2933,
+    "accepted": 2853,
+    "wrist_pos_err_mm_median": 44.6,
+    "per_camera": {
+     "head": {
+      "samples": 2933,
+      "accepted": 2853,
+      "gate_deg": 30.0,
+      "offset_deg": 17.8,
+      "tier": "primary",
+      "dev_deg_median": 8.14,
+      "wrist_pos_err_mm_median": 44.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11591,
+     "interpolated": 869,
+     "mean_hand": 5,
+     "no_body_fit": 19
+    },
+    "observed_fraction": 0.9981,
+    "observed_fraction_of_valid": 0.9996,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 14.7,
+     "smplx": 1.04
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.1,
+      "p90": 12.2
+     },
+     "registered": {
+      "median": 11.6,
+      "p90": 14.1
+     }
+    }
+   },
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+    "offset_rotvec": [
+     -0.0995,
+     -0.0803,
+     0.1621
+    ],
+    "dev_deg": {
+     "median": 9.32,
+     "p90": 21.57
+    },
+    "samples": 2874,
+    "accepted": 2751,
+    "wrist_pos_err_mm_median": 84.0,
+    "per_camera": {
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+      "samples": 2874,
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+      "offset_deg": 11.82,
+      "tier": "primary",
+      "dev_deg_median": 9.32,
+      "wrist_pos_err_mm_median": 84.0
+     }
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+     "ace_sample": 11217,
+     "interpolated": 1243,
+     "mean_hand": 5,
+     "no_body_fit": 19
+    },
+    "observed_fraction": 0.9981,
+    "observed_fraction_of_valid": 0.9996,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.34,
+     "smplx": 0.95
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.8,
+      "p90": 7.4
+     },
+     "registered": {
+      "median": 5.7,
+      "p90": 7.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T13:52:15.821158+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/P20/session_003",
   "family": "locomotion_primitives",
   "primitive": "P20",
   "source_session": "20260904/P20/20260904_060310_session9"
+ },
+ "task": {
+  "primitive": "P20",
+  "instruction": "Follow S-shaped path continuously; no stopping between curves."
  }
 }
diff --git a/actions/locomotion_primitives/P20/session_003/motions/hands_mano.npz b/actions/locomotion_primitives/P20/session_003/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d7048fc67b379de5aeba9a9f3db2c3bd8d0fd9c3
--- /dev/null
+++ b/actions/locomotion_primitives/P20/session_003/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65b7b88020e26335dc142b93237e8273f7b1cfc829d9743b255f77f50eb43df2
+size 3952856
diff --git a/actions/locomotion_primitives/P20/session_003/motions/smplx.npz b/actions/locomotion_primitives/P20/session_003/motions/smplx.npz
index 4584b1513b5c268589f54dcc769ddeb717fc254d..aa37254483214887e1e98600f6058be33cab2957 100644
--- a/actions/locomotion_primitives/P20/session_003/motions/smplx.npz
+++ b/actions/locomotion_primitives/P20/session_003/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d88bb17d1dfae555dc25d32c84fb2c28a115b0d4fcd0811741c757826120095f
-size 4790805
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+size 8986413
diff --git a/actions/locomotion_primitives/P20/session_004/annotations.json b/actions/locomotion_primitives/P20/session_004/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c0020c2fe372232b9ed12612c55e81ddb4b4376
--- /dev/null
+++ b/actions/locomotion_primitives/P20/session_004/annotations.json
@@ -0,0 +1,105 @@
+{
+ "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": "P20",
+ "instruction": "Follow S-shaped path continuously; no stopping between curves.",
+ "segments": [
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+   "video": "left_eye",
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+  }
+ ],
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+   "instruction": "Follow S-shaped path continuously; no stopping between curves."
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+   "instruction": "Follow S-shaped path continuously; no stopping between curves."
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+   "instruction": "Follow S-shaped path continuously; no stopping between curves."
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+   "instruction": "Follow S-shaped path continuously; no stopping between curves."
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+   "instruction": "Follow S-shaped path continuously; no stopping between curves."
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+   "instruction": "Follow S-shaped path continuously; no stopping between curves."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P20/session_004/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P20/session_004/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0724368e12b7b74366638cf4b5e1a5a2fcd6997
--- /dev/null
+++ b/actions/locomotion_primitives/P20/session_004/cameras/gsi_online_calibration.json
@@ -0,0 +1,257 @@
+{
+ "camera_fit": {
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+  "groups_used": 14,
+  "median_px": 0.322
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+   "held_out_px_before": 5.221,
+   "inliers": 4383,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.5534,
+    -0.34,
+    -0.2936
+   ],
+   "split_deg": 0.0358,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.7304,
+   "gate_fail": [],
+   "held_out_px_after": 0.315,
+   "held_out_px_before": 6.607,
+   "inliers": 6556,
+   "position_fitted": true,
+   "position_mm": [
+    -1.76,
+    -9.02,
+    6.6
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+   "position_split_mm": 4.037,
+   "rotvec_deg": [
+    0.4875,
+    0.5234,
+    -1.5756
+   ],
+   "split_deg": 0.0487,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+   "inliers": 810,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.1384,
+    -0.5095,
+    0.3507
+   ],
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+   "usable": true
+  },
+  "right_eye": {
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+   "against": [
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+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
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+   "inliers": 6955,
+   "position_fitted": true,
+   "position_mm": [
+    4.42,
+    -7.9,
+    7.53
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+   "position_split_mm": 3.384,
+   "rotvec_deg": [
+    0.602,
+    -0.5176,
+    -0.302
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+   "split_deg": 0.0244,
+   "usable": true
+  },
+  "right_front": {
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+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+   "held_out_px_before": 4.545,
+   "inliers": 6308,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2594,
+    -0.1015,
+    -1.0338
+   ],
+   "split_deg": 0.0125,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "1db695dcdf2ad990758fd6af3b480f7b5f19b8377ac34d36541b702b05cd031d",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "917acb4b2a0298c1b7b39281b4ece5da4bc288285c6a6703deeb3b77a40027c6",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "74ada654de6b32d1fef01a6d1bfc241e9ff19886e4e253872e9127a7c50ce162",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "309457d9a35bdb0ad0816cbe5f3c8608715e1b997113db5db330a3518092bc9c",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "282815ff9bf7b5ac",
+ "kind": "online_calibration",
+ "output_sha256": "5133f1e867e332334cce1eb33877f01fa090cf2b8023b6ba2b3a9b637ad0c822",
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+  "left_front-right_front": 1.0,
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+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
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+  "left_eye": 37.384,
+  "left_front": 39.122,
+  "right": 40.846,
+  "right_eye": 36.287,
+  "right_front": 38.165
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
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+ "segment": 1,
+ "selection": {
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P20/session_004/cameras/slam.npz b/actions/locomotion_primitives/P20/session_004/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a89edd1d890c52fec2a76d932959ce1f097fc356
--- /dev/null
+++ b/actions/locomotion_primitives/P20/session_004/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c9a2e866281c22800038eec9f93a79546acd20953794294cdf11c3862aa8327
+size 514368
diff --git a/actions/locomotion_primitives/P20/session_004/meta.json b/actions/locomotion_primitives/P20/session_004/meta.json
index 1c9cc8200445706d37c97a9832b17e84fde4a0fe..47c00cf609e74c37842e6cc98aaa58cfd17fad8a 100644
--- a/actions/locomotion_primitives/P20/session_004/meta.json
+++ b/actions/locomotion_primitives/P20/session_004/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": {
-   "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": {
@@ -522,10 +522,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.8655370549028742
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 18.7,
+    "offset_rotvec": [
+     -0.2079,
+     -0.2004,
+     -0.1522
+    ],
+    "dev_deg": {
+     "median": 13.0,
+     "p90": 25.18
+    },
+    "samples": 1947,
+    "accepted": 1868,
+    "wrist_pos_err_mm_median": 53.1,
+    "per_camera": {
+     "head": {
+      "samples": 1947,
+      "accepted": 1868,
+      "gate_deg": 30.0,
+      "offset_deg": 18.7,
+      "tier": "primary",
+      "dev_deg_median": 13.0,
+      "wrist_pos_err_mm_median": 53.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 7622,
+     "interpolated": 2242,
+     "mean_hand": 812,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9232,
+    "observed_fraction_of_valid": 0.9239,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 16.25,
+     "smplx": 0.54
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.0,
+      "p90": 8.8
+     },
+     "registered": {
+      "median": 7.2,
+      "p90": 9.8
+     }
+    }
+   },
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+    "offset_deg": 10.11,
+    "offset_rotvec": [
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+     0.1649,
+     -0.0047
+    ],
+    "dev_deg": {
+     "median": 14.96,
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 }
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 }
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  }
 }
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diff --git a/actions/locomotion_primitives/P20/session_007/cameras/slam.npz b/actions/locomotion_primitives/P20/session_007/cameras/slam.npz
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--- /dev/null
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index fc84f29c628fcccccb9a393887c003dc87fc47b5..19ca0d4ad675cd8cd6afffcc0714856e5a6c38f3 100644
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+++ b/actions/locomotion_primitives/P20/session_007/meta.json
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@@ -517,10 +517,124 @@
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  }
 }
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diff --git a/actions/locomotion_primitives/P20/session_008/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P20/session_008/cameras/gsi_online_calibration.json
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+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
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+  "left_front": 36.044,
+  "right": 41.96,
+  "right_eye": 30.647,
+  "right_front": 34.224
+ },
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+  "opencv": "5.0.0",
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+ },
+ "version": 1
+}
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diff --git a/actions/locomotion_primitives/P20/session_008/cameras/slam.npz b/actions/locomotion_primitives/P20/session_008/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7a469630aa0a2997fd9e368c83cf45f826baa143
--- /dev/null
+++ b/actions/locomotion_primitives/P20/session_008/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f0abfb8bc093d1e5cd8ebed6fc9e5f605a5ce71cee8c9688afb6e884ffc0a4b
+size 598260
diff --git a/actions/locomotion_primitives/P20/session_008/meta.json b/actions/locomotion_primitives/P20/session_008/meta.json
index bba39a3365b314bbcf9fb5a34f39e529fcffd0e3..87a9db46d8c188dd23595a1e7e6dd3c0602f1fc9 100644
--- a/actions/locomotion_primitives/P20/session_008/meta.json
+++ b/actions/locomotion_primitives/P20/session_008/meta.json
@@ -327,8 +327,8 @@
   "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,
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    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -513,10 +513,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.6002263089514683
  },
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+      "tier": "primary",
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+     "interpolated": 3682,
+     "mean_hand": 380,
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+     }
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+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  ],
+  "generated_at_utc": "2026-11-03T17:29:37.434271+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",
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+ },
  "release": {
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   "family": "locomotion_primitives",
   "primitive": "P20",
   "source_session": "20260912/P20/20260912_074846_session49"
+ },
+ "task": {
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  }
 }
diff --git a/actions/locomotion_primitives/P20/session_008/motions/hands_mano.npz b/actions/locomotion_primitives/P20/session_008/motions/hands_mano.npz
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 2631548
diff --git a/actions/locomotion_primitives/P20/session_008/motions/smplx.npz b/actions/locomotion_primitives/P20/session_008/motions/smplx.npz
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--- a/actions/locomotion_primitives/P20/session_008/motions/smplx.npz
+++ b/actions/locomotion_primitives/P20/session_008/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P20/session_009/annotations.json b/actions/locomotion_primitives/P20/session_009/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ed16ab8a67dc1097baa3926317b6386fe618d23
--- /dev/null
+++ b/actions/locomotion_primitives/P20/session_009/annotations.json
@@ -0,0 +1,105 @@
+{
+ "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": "P20",
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+ ]
+}
diff --git a/actions/locomotion_primitives/P20/session_009/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P20/session_009/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..154f27115b6cc19160e9fc314aeacf8eb63cc4b5
--- /dev/null
+++ b/actions/locomotion_primitives/P20/session_009/cameras/gsi_online_calibration.json
@@ -0,0 +1,257 @@
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+ },
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+  "right_front": 39.086
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+}
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diff --git a/actions/locomotion_primitives/P20/session_009/cameras/slam.npz b/actions/locomotion_primitives/P20/session_009/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d5f49b72f840b64501c2ddcf8df7fc8f9a488cc7
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ae53ee74b6c12acbd514afd82adae8812191b83857423fed112db8d8f272a05
+size 713838
diff --git a/actions/locomotion_primitives/P20/session_009/meta.json b/actions/locomotion_primitives/P20/session_009/meta.json
index 82f3152033269683d2a3c38980546af8401f60dd..bb741729a6909dc14d8915e5607d3d99f385cff8 100644
--- a/actions/locomotion_primitives/P20/session_009/meta.json
+++ b/actions/locomotion_primitives/P20/session_009/meta.json
@@ -330,8 +330,8 @@
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   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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@@ -511,10 +511,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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  },
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+ "task": {
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  }
 }
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new file mode 100644
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--- /dev/null
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--- a/actions/locomotion_primitives/P20/session_009/motions/smplx.npz
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new file mode 100644
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--- /dev/null
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@@ -0,0 +1,127 @@
+{
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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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+}
diff --git a/actions/locomotion_primitives/P20/session_010/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P20/session_010/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c914f88b633c76e2687c9d9e8136f90d77847c5
--- /dev/null
+++ b/actions/locomotion_primitives/P20/session_010/cameras/gsi_online_calibration.json
@@ -0,0 +1,251 @@
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+}
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index 2365488ac1d712b001eeb9ad158348eae39496ce..1c130807e13dbbbaf78cf93aa0eb15670311f17b 100644
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+++ b/actions/locomotion_primitives/P20/session_010/meta.json
@@ -515,5 +515,9 @@
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 }
diff --git a/actions/locomotion_primitives/P20/session_010/motions/hands_mano.npz b/actions/locomotion_primitives/P20/session_010/motions/hands_mano.npz
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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new file mode 100644
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--- /dev/null
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new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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--- a/actions/locomotion_primitives/P20/session_011/meta.json
+++ b/actions/locomotion_primitives/P20/session_011/meta.json
@@ -326,8 +326,8 @@
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   "hands": {
-   "observed": false,
-   "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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@@ -523,10 +523,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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   "source_session": "20260918/P20/20260918_015355_session20"
+ },
+ "task": {
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  }
 }
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new file mode 100644
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+ "primitive": "P20",
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diff --git a/actions/locomotion_primitives/P20/session_012/cameras/slam.npz b/actions/locomotion_primitives/P20/session_012/cameras/slam.npz
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--- a/actions/locomotion_primitives/P20/session_012/meta.json
+++ b/actions/locomotion_primitives/P20/session_012/meta.json
@@ -339,8 +339,8 @@
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   "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",
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@@ -537,10 +537,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.3205897428430644
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+  "max_gap_s": 1.0,
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+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P20/session_012",
   "family": "locomotion_primitives",
   "primitive": "P20",
   "source_session": "20260921/P20/20260921_013736_session18"
+ },
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+  "instruction": "Follow S-shaped path continuously; no stopping between curves."
  }
 }
diff --git a/actions/locomotion_primitives/P20/session_012/motions/hands_mano.npz b/actions/locomotion_primitives/P20/session_012/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..17d7b93cd6e43bfc1834d6c01847a2ba17f4dfb5
--- /dev/null
+++ b/actions/locomotion_primitives/P20/session_012/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba1bbfb8c9623c0ff054361364ac67a61948a1294659848fbae0e49f68e96a84
+size 3465213
diff --git a/actions/locomotion_primitives/P20/session_012/motions/smplx.npz b/actions/locomotion_primitives/P20/session_012/motions/smplx.npz
index 180f53b83dae0edb71aa59a8aafb1b9beb24caef..1027c2490207718e9679deb1d9cb3b307dd7028d 100644
--- a/actions/locomotion_primitives/P20/session_012/motions/smplx.npz
+++ b/actions/locomotion_primitives/P20/session_012/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 5032708
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diff --git a/actions/locomotion_primitives/P20/session_013/annotations.json b/actions/locomotion_primitives/P20/session_013/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a439ce8d5c77110c1b729301118ea14cbd19ccc
--- /dev/null
+++ b/actions/locomotion_primitives/P20/session_013/annotations.json
@@ -0,0 +1,105 @@
+{
+ "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",
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P20/session_013/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P20/session_013/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3b28fddb137d90cd0cbedff05794cb23a5b378b
--- /dev/null
+++ b/actions/locomotion_primitives/P20/session_013/cameras/gsi_online_calibration.json
@@ -0,0 +1,257 @@
+{
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+ },
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+    0.7761,
+    -1.9308
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+  },
+  "left_front": {
+   "role": "rig origin"
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+    "right_front",
+    "left_eye",
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+ },
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+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
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+  "right_front-right_eye": 0.734
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+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P20/session_013/cameras/slam.npz b/actions/locomotion_primitives/P20/session_013/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..52fee37ea6a2fa776ff25458987dffb4ecac7065
--- /dev/null
+++ b/actions/locomotion_primitives/P20/session_013/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfa5176808a4611f8059dcd9adba3b138f0d97e61ba4450f51db9c726400b407
+size 600482
diff --git a/actions/locomotion_primitives/P20/session_013/meta.json b/actions/locomotion_primitives/P20/session_013/meta.json
index 6f0acf7b0a7c0498791d32941490bcc9546e4ada..921eac29859728a204540d4920958c9f1372c865 100644
--- a/actions/locomotion_primitives/P20/session_013/meta.json
+++ b/actions/locomotion_primitives/P20/session_013/meta.json
@@ -327,8 +327,8 @@
   "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": {
@@ -525,10 +525,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.019324904450442
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
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+     "median": 13.71,
+     "p90": 28.55
+    },
+    "samples": 2148,
+    "accepted": 1960,
+    "wrist_pos_err_mm_median": 96.7,
+    "per_camera": {
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+      "accepted": 1960,
+      "gate_deg": 30.0,
+      "offset_deg": 36.92,
+      "tier": "primary",
+      "dev_deg_median": 13.71,
+      "wrist_pos_err_mm_median": 96.7
+     }
+    },
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+     "interpolated": 3956,
+     "mean_hand": 376,
+     "no_body_fit": 0
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+    "observed_fraction_of_valid": 0.9699,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.66
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+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P20/session_013",
   "family": "locomotion_primitives",
   "primitive": "P20",
   "source_session": "20260923/P20/20260923_073935_session60"
+ },
+ "task": {
+  "primitive": "P20",
+  "instruction": "Follow S-shaped path continuously; no stopping between curves."
  }
 }
diff --git a/actions/locomotion_primitives/P20/session_013/motions/hands_mano.npz b/actions/locomotion_primitives/P20/session_013/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2b00d639f611b4911a8446f487cb174165b48695
--- /dev/null
+++ b/actions/locomotion_primitives/P20/session_013/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8c23f4961eb88549f2f83e25a80985dd28d5247caea129fa05330b89e2b08ee
+size 2800090
diff --git a/actions/locomotion_primitives/P20/session_013/motions/smplx.npz b/actions/locomotion_primitives/P20/session_013/motions/smplx.npz
index 68d1f1bdacfb5635a400d4ff43d5acbb3901ae60..c2a89472c502b36f8817f510e8f835ce8b36f2a4 100644
--- a/actions/locomotion_primitives/P20/session_013/motions/smplx.npz
+++ b/actions/locomotion_primitives/P20/session_013/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P20/session_014/annotations.json b/actions/locomotion_primitives/P20/session_014/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..241ec92cc07aba41bbdc6c10e4974b998b23a457
--- /dev/null
+++ b/actions/locomotion_primitives/P20/session_014/annotations.json
@@ -0,0 +1,105 @@
+{
+ "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": "P20",
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+  }
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+ ]
+}
diff --git a/actions/locomotion_primitives/P20/session_014/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P20/session_014/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1645d03fc6b11a99675ed2cbd3ac8d5dd7580ed
--- /dev/null
+++ b/actions/locomotion_primitives/P20/session_014/cameras/gsi_online_calibration.json
@@ -0,0 +1,251 @@
+{
+ "camera_fit": {
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+  "median_px": 0.355
+ },
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+    "right_eye",
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+    3.94,
+    -8.92,
+    2.63
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+   "position_split_mm": 1.54,
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+    0.7261,
+    -2.2453
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+  "left_front": {
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+  },
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+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+    -0.3724
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+   "usable": true
+  },
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+    "left_eye",
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+    2.54
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+    -0.9055
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+   "split_deg": 0.0569,
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+    "right_eye",
+    "left",
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+   "rotvec_deg": [
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+    -1.942
+   ],
+   "split_deg": 0.0109,
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+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "c4b6ef63082701eabb7f67746632ec6014cd8a8d4bfdcd736678af2a24037d63",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "a0eaeeb23c27f79fb07726304737dba047e774c16725d97e022c86d34ddac126",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "c4c703e1af12d5196fb012d88b49ec64fb3fff9c0d324627da75945ce279ba94",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
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+   "sha256": "48c012edfa0071c9f6b7b70c8acc25e1fbd20f4cbc120f82e6fa53c5bef6efe9",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "a975be15f53b2162",
+ "kind": "online_calibration",
+ "output_sha256": "c78958cc5504e43eaae2b5818abe956ddd009ce709789341a4b97995ba54f1e2",
+ "overlap": {
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+  "left_front-right_front": 1.0,
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+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
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+  "left_eye": 25.26,
+  "left_front": 32.042,
+  "right": 36.135,
+  "right_eye": 26.118,
+  "right_front": 31.224
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P20/session_014/cameras/slam.npz b/actions/locomotion_primitives/P20/session_014/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..176b34b9a0960fbc03586454d4fe265efa85df7c
--- /dev/null
+++ b/actions/locomotion_primitives/P20/session_014/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37d9c0794153f44cc3f8934845743e7bf3f37601033241435ad8d00de86ab236
+size 455321
diff --git a/actions/locomotion_primitives/P20/session_014/meta.json b/actions/locomotion_primitives/P20/session_014/meta.json
index d6cca886d61b455f4ac5ed755f30c3958b6e2fb7..73885b92a393d61af5efee66f7440392359ec05a 100644
--- a/actions/locomotion_primitives/P20/session_014/meta.json
+++ b/actions/locomotion_primitives/P20/session_014/meta.json
@@ -355,8 +355,8 @@
   "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": {
@@ -542,10 +542,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.6043337591982053
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_deg": 10.86,
+    "offset_rotvec": [
+     0.0246,
+     -0.1788,
+     -0.0581
+    ],
+    "dev_deg": {
+     "median": 8.6,
+     "p90": 40.86
+    },
+    "samples": 1928,
+    "accepted": 1607,
+    "wrist_pos_err_mm_median": 90.4,
+    "per_camera": {
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+      "accepted": 1607,
+      "gate_deg": 30.0,
+      "offset_deg": 10.86,
+      "tier": "primary",
+      "dev_deg_median": 8.6,
+      "wrist_pos_err_mm_median": 90.4
+     }
+    },
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+     "interpolated": 2585,
+     "mean_hand": 277,
+     "no_body_fit": 38
+    },
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+    "observed_fraction_of_valid": 0.9707,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.59
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 8.8
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+     }
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+     "p90": 43.82
+    },
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+    "accepted": 1306,
+    "wrist_pos_err_mm_median": 44.8,
+    "per_camera": {
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+      "accepted": 1306,
+      "gate_deg": 30.0,
+      "offset_deg": 24.35,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 44.8
+     }
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+     "no_body_fit": 38
+    },
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+    "observed_fraction_of_valid": 0.9703,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 1.07
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+      "p90": 27.2
+     },
+     "registered": {
+      "median": 9.2,
+      "p90": 27.0
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:32:39.898620+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/P20/session_014",
   "family": "locomotion_primitives",
   "primitive": "P20",
   "source_session": "20260925/P20/20260925_012744_session15"
+ },
+ "task": {
+  "primitive": "P20",
+  "instruction": "Follow S-shaped path continuously; no stopping between curves."
  }
 }
diff --git a/actions/locomotion_primitives/P20/session_014/motions/hands_mano.npz b/actions/locomotion_primitives/P20/session_014/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d01aaf99a4824a782b8c88ed7e474f5da57c7279
--- /dev/null
+++ b/actions/locomotion_primitives/P20/session_014/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:969aca95ae90293c5ed7a27855c09df8154997d54f581befe2b4d12979b79111
+size 2423087
diff --git a/actions/locomotion_primitives/P20/session_014/motions/smplx.npz b/actions/locomotion_primitives/P20/session_014/motions/smplx.npz
index 7d0b63de21372fe8d3d593f1976c04353fa78170..e9469f0361f330b1a9e8164af052b531fd8bba19 100644
--- a/actions/locomotion_primitives/P20/session_014/motions/smplx.npz
+++ b/actions/locomotion_primitives/P20/session_014/motions/smplx.npz
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+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
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+}
diff --git a/actions/locomotion_primitives/P20/session_015/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P20/session_015/cameras/gsi_online_calibration.json
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index 0000000000000000000000000000000000000000..ab0f15c1bbde7f312401546f2cef5e9c1bbd9582
--- /dev/null
+++ b/actions/locomotion_primitives/P20/session_015/cameras/gsi_online_calibration.json
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+{
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+  "groups_used": 15,
+  "median_px": 0.353
+ },
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+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
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+  },
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+ "kind": "online_calibration",
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+  "right_front-right_eye": 0.734
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+ "runtime": {
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diff --git a/actions/locomotion_primitives/P20/session_015/cameras/slam.npz b/actions/locomotion_primitives/P20/session_015/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6c431f6bd4767d4634f651fa726b2c258d486368
--- /dev/null
+++ b/actions/locomotion_primitives/P20/session_015/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 800178
diff --git a/actions/locomotion_primitives/P20/session_015/meta.json b/actions/locomotion_primitives/P20/session_015/meta.json
index dc64464ad067d71862b86ff8c68b8563c76458e9..e080570267f00d216580bde674d9602c28bc0b64 100644
--- a/actions/locomotion_primitives/P20/session_015/meta.json
+++ b/actions/locomotion_primitives/P20/session_015/meta.json
@@ -326,8 +326,8 @@
   "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": {
@@ -518,10 +518,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.1858784496507146
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
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+     -0.302,
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+    "dev_deg": {
+     "median": 17.03,
+     "p90": 35.09
+    },
+    "samples": 1975,
+    "accepted": 1652,
+    "wrist_pos_err_mm_median": 206.0,
+    "per_camera": {
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+      "accepted": 1652,
+      "gate_deg": 30.0,
+      "offset_deg": 39.69,
+      "tier": "primary",
+      "dev_deg_median": 17.03,
+      "wrist_pos_err_mm_median": 206.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 6862,
+     "interpolated": 5942,
+     "mean_hand": 3880,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.7674,
+    "observed_fraction_of_valid": 0.7674,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 46.71,
+     "smplx": 0.71
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 8.2
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+     "p90": 33.25
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+    "accepted": 1209,
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+    "per_camera": {
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+      "accepted": 1209,
+      "gate_deg": 30.0,
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+      "tier": "primary",
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+    "observed_fraction_of_valid": 0.579,
+    "palm_axis_vs_markers_deg": {
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+      "p90": 9.0
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+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:29:43.432385+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/P20/session_015",
   "family": "locomotion_primitives",
   "primitive": "P20",
   "source_session": "20260928/P20/20260928_075807_session32"
+ },
+ "task": {
+  "primitive": "P20",
+  "instruction": "Follow S-shaped path continuously; no stopping between curves."
  }
 }
diff --git a/actions/locomotion_primitives/P20/session_015/motions/hands_mano.npz b/actions/locomotion_primitives/P20/session_015/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8816acebd9dde319ed9435ac0b22b899bb3b235b
--- /dev/null
+++ b/actions/locomotion_primitives/P20/session_015/motions/hands_mano.npz
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+version https://git-lfs.github.com/spec/v1
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+size 2431730
diff --git a/actions/locomotion_primitives/P20/session_015/motions/smplx.npz b/actions/locomotion_primitives/P20/session_015/motions/smplx.npz
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--- a/actions/locomotion_primitives/P20/session_015/motions/smplx.npz
+++ b/actions/locomotion_primitives/P20/session_015/motions/smplx.npz
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diff --git a/actions/locomotion_primitives/P20/session_016/annotations.json b/actions/locomotion_primitives/P20/session_016/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..e708914ab7d63fe143b083c9bbc8520c79a45cef
--- /dev/null
+++ b/actions/locomotion_primitives/P20/session_016/annotations.json
@@ -0,0 +1,105 @@
+{
+ "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": "P20",
+ "instruction": "Follow S-shaped path continuously; no stopping between curves.",
+ "segments": [
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+   "duration_s": 131.899944,
+   "video": "left_eye",
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+  }
+ ],
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+}
diff --git a/actions/locomotion_primitives/P20/session_016/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P20/session_016/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e5f5c325b62a989d39d22e5156719bf775c521b
--- /dev/null
+++ b/actions/locomotion_primitives/P20/session_016/cameras/gsi_online_calibration.json
@@ -0,0 +1,231 @@
+{
+ "camera_fit": {
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+  "groups_used": 14,
+  "median_px": 0.344
+ },
+ "cameras": {
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+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+   "held_out_px_before": 18.832,
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+    -0.1824,
+    -0.4565
+   ],
+   "split_deg": 0.0818,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+   "gate_fail": [],
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+   "held_out_px_before": 5.712,
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+    -27.79,
+    -3.42
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+    -0.6168,
+    1.5875
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+  },
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+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+    1.3709,
+    -1.1142,
+    2.4026
+   ],
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+   "usable": true
+  },
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+    "left_eye",
+    "left",
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+    1.9279,
+    -1.1676,
+    2.2757
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+   "split_deg": 0.0248,
+   "usable": true
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+    "left",
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+    0.0317
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+ },
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+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
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+  },
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+  },
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+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
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+   "sha256": "fe28990cbdc8342d184073e20537401a831fe81e868276770a6246056017b3b5",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "9d2b35a492e78682",
+ "kind": "online_calibration",
+ "output_sha256": "b5e5f188e4fe1ab7a12a94512c64808f50bba076d8655d4d579cd08b47724946",
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+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.706,
+  "right_front-left": 0.49,
+  "right_front-left_eye": 0.697,
+  "right_front-right": 0.464,
+  "right_front-right_eye": 0.704
+ },
+ "picture_change": {
+  "left": 37.298,
+  "left_eye": 36.973,
+  "left_front": 40.296,
+  "right": 39.709,
+  "right_eye": 36.098,
+  "right_front": 39.126
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
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+   7012446805777,
+   7013446905777,
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P20/session_016/cameras/slam.npz b/actions/locomotion_primitives/P20/session_016/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7534a3f518abcf4f941f11143ddb191f39719196
--- /dev/null
+++ b/actions/locomotion_primitives/P20/session_016/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f377f0f118b1afe4cbbf1b73924de2dd417bfc18bfc43fa1fe64f4baa0141d32
+size 760005
diff --git a/actions/locomotion_primitives/P20/session_016/meta.json b/actions/locomotion_primitives/P20/session_016/meta.json
index 609c39178663fbfba0e2a4923bf4a73608d93f2b..381c536771b8b95ca0a160b9997246300264aba9 100644
--- a/actions/locomotion_primitives/P20/session_016/meta.json
+++ b/actions/locomotion_primitives/P20/session_016/meta.json
@@ -393,8 +393,8 @@
   "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": {},
+  "hands": {
+   "left": {
+    "offset_deg": 25.86,
+    "offset_rotvec": [
+     0.3994,
+     -0.1272,
+     0.1673
+    ],
+    "dev_deg": {
+     "median": 13.76,
+     "p90": 26.37
+    },
+    "samples": 2981,
+    "accepted": 2774,
+    "wrist_pos_err_mm_median": 72.8,
+    "per_camera": {
+     "head": {
+      "samples": 2981,
+      "accepted": 2774,
+      "gate_deg": 30.0,
+      "offset_deg": 25.86,
+      "tier": "primary",
+      "dev_deg_median": 13.76,
+      "wrist_pos_err_mm_median": 72.8
+     }
+    },
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+     "interpolated": 3452,
+     "mean_hand": 1060,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9331,
+    "observed_fraction_of_valid": 0.9331,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 25.41,
+     "smplx": 0.86
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 10.2
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+    "accepted": 824,
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+      "tier": "primary",
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+    "palm_axis_vs_markers_deg": {
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+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 20.2
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+      "p90": 20.3
+     }
+    }
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+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:47:12.380290+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/P20/session_016",
   "family": "locomotion_primitives",
   "primitive": "P20",
   "source_session": "20261016/P20/20261016_023110_session49"
+ },
+ "task": {
+  "primitive": "P20",
+  "instruction": "Follow S-shaped path continuously; no stopping between curves."
  }
 }
diff --git a/actions/locomotion_primitives/P20/session_016/motions/hands_mano.npz b/actions/locomotion_primitives/P20/session_016/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..288e8fc9f6832546c731f922c4b72c74d01bb3f1
--- /dev/null
+++ b/actions/locomotion_primitives/P20/session_016/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5755a57a92c5fc11677f3091f1b1c6bfe57d582962d038cdc469844b06c2581f
+size 4318436
diff --git a/actions/locomotion_primitives/P20/session_016/motions/smplx.npz b/actions/locomotion_primitives/P20/session_016/motions/smplx.npz
index 3738ea55e8917c133877d2e4443e73c894a8315c..c3bf4456a6dd0d289fe3bc83463f0e2a391eb8fe 100644
--- a/actions/locomotion_primitives/P20/session_016/motions/smplx.npz
+++ b/actions/locomotion_primitives/P20/session_016/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P21/session_001/annotations.json b/actions/locomotion_primitives/P21/session_001/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1513cd8220f0c65a8d023e999b73c301e678287
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_001/annotations.json
@@ -0,0 +1,127 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 1, 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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+  }
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+  },
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+   "end_s": 127.696,
+   "t_start": 117.2092,
+   "t_end": 127.7342,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
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+   "segment": "segment1",
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+   "end_s": 141.191,
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+   "t_end": 141.2292,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P21/session_001/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P21/session_001/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..88bbcf2106f0deb2850acce203782179b916ee76
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_001/cameras/gsi_online_calibration.json
@@ -0,0 +1,264 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 194,
+    "median_px": 16.01,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.381
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.9417,
+   "gate_fail": [],
+   "held_out_px_after": 0.563,
+   "held_out_px_before": 7.549,
+   "inliers": 1851,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.0584,
+    0.8455,
+    0.4106
+   ],
+   "split_deg": 0.1005,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0029,
+   "gate_fail": [],
+   "held_out_px_after": 0.348,
+   "held_out_px_before": 2.329,
+   "inliers": 3208,
+   "position_fitted": true,
+   "position_mm": [
+    -7.42,
+    6.66,
+    12.31
+   ],
+   "position_sigma_mm": 0.273,
+   "position_split_mm": 1.868,
+   "rotvec_deg": [
+    0.0197,
+    0.6308,
+    -0.7794
+   ],
+   "split_deg": 0.0272,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.2972,
+   "gate_fail": [],
+   "held_out_px_after": 0.548,
+   "held_out_px_before": 2.267,
+   "inliers": 1854,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.1884,
+    -0.1259,
+    -0.1922
+   ],
+   "split_deg": 0.0391,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.6826,
+   "gate_fail": [],
+   "held_out_px_after": 0.378,
+   "held_out_px_before": 2.251,
+   "inliers": 3564,
+   "position_fitted": true,
+   "position_mm": [
+    -8.24,
+    5.37,
+    10.65
+   ],
+   "position_sigma_mm": 0.267,
+   "position_split_mm": 1.557,
+   "rotvec_deg": [
+    0.1157,
+    0.2985,
+    -0.6029
+   ],
+   "split_deg": 0.0179,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+   "gate_fail": [],
+   "held_out_px_after": 0.367,
+   "held_out_px_before": 8.059,
+   "inliers": 3882,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3282,
+    0.5021,
+    -1.8667
+   ],
+   "split_deg": 0.0314,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "00df8651df26a3f0fe90f993543a41d3ac66f644e82d6c0ec966e005ff626b04",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "cc5ce131783305fca19e55d9e8dd7ae27d3bff8bd0ad4f44ffd9bdb2591d6338",
+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "b0f70170b5512cc5f551ce1794918022e49f74ad1761c26236b360558e54924f",
+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "b15d49cc01982b2d7f5b4d8d4719319ec424ca638a6a0f93550442d4264bd341",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "2337497b9a34e4d7",
+ "kind": "online_calibration",
+ "output_sha256": "f1789279a167190395b6bd047c703c376480f491d93a6baaa9bf07e6847ac035",
+ "overlap": {
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+  "left_eye-left": 0.707,
+  "left_eye-right": 0.685,
+  "left_front-left": 0.484,
+  "left_front-left_eye": 0.709,
+  "left_front-right": 0.464,
+  "left_front-right_eye": 0.711,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.708,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.668,
+  "right_front-left": 0.482,
+  "right_front-left_eye": 0.711,
+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
+ "picture_change": {
+  "left": 40.513,
+  "left_eye": 38.522,
+  "left_front": 49.763,
+  "right": 41.168,
+  "right_eye": 40.912,
+  "right_front": 50.628
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
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+   6379784816777,
+   6387784839000,
+   6388784827888,
+   6389784816777,
+   6394784816777,
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+   6512784816777,
+   6516784816777,
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+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P21/session_001/cameras/slam.npz b/actions/locomotion_primitives/P21/session_001/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b466fea42c8fae7abbab2677ee997e5cf96299c6
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_001/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bdadbe53b0e121f471ece1e2184c5c206a0c1bcb4bc812e5f599a2e9ab8a8d3
+size 855334
diff --git a/actions/locomotion_primitives/P21/session_001/meta.json b/actions/locomotion_primitives/P21/session_001/meta.json
index 0d1b2519badbc1ce32234a360d3834545767486c..b2cd6ab4bfc257b2899a5fe76ef36e8e56f5a2d2 100644
--- a/actions/locomotion_primitives/P21/session_001/meta.json
+++ b/actions/locomotion_primitives/P21/session_001/meta.json
@@ -333,8 +333,8 @@
   "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": {
@@ -520,10 +520,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 15.92,
+    "offset_rotvec": [
+     -0.1269,
+     -0.2453,
+     -0.0308
+    ],
+    "dev_deg": {
+     "median": 7.07,
+     "p90": 16.41
+    },
+    "samples": 4281,
+    "accepted": 4209,
+    "wrist_pos_err_mm_median": 43.8,
+    "per_camera": {
+     "head": {
+      "samples": 4281,
+      "accepted": 4209,
+      "gate_deg": 30.0,
+      "offset_deg": 15.92,
+      "tier": "primary",
+      "dev_deg_median": 7.07,
+      "wrist_pos_err_mm_median": 43.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 16959,
+     "interpolated": 716,
+     "mean_hand": 5,
+     "no_body_fit": 204
+    },
+    "observed_fraction": 0.9883,
+    "observed_fraction_of_valid": 0.9997,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.79,
+     "smplx": 0.7
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.6,
+      "p90": 8.7
+     },
+     "registered": {
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+      "p90": 10.1
+     }
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+   },
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+     -0.0844,
+     0.1572
+    ],
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+     "median": 5.79,
+     "p90": 17.08
+    },
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+    "accepted": 4006,
+    "wrist_pos_err_mm_median": 30.7,
+    "per_camera": {
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+      "accepted": 4006,
+      "gate_deg": 30.0,
+      "offset_deg": 10.92,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 30.7
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 1510,
+     "mean_hand": 5,
+     "no_body_fit": 204
+    },
+    "observed_fraction": 0.9883,
+    "observed_fraction_of_valid": 0.9997,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 9.77,
+     "smplx": 0.61
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.3,
+      "p90": 9.4
+     },
+     "registered": {
+      "median": 7.7,
+      "p90": 8.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:36:10.026917+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_001",
   "family": "locomotion_primitives",
   "primitive": "P21",
   "source_session": "20260828/P21/20260828_071954_session36"
+ },
+ "task": {
+  "primitive": "P21",
+  "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
  }
 }
diff --git a/actions/locomotion_primitives/P21/session_001/motions/hands_mano.npz b/actions/locomotion_primitives/P21/session_001/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4c940df575e4308549164f67805864536d3d2862
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_001/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:604ba231597fe2219b2c94e03fd82f8b088671384a2ef17b068cebca5f2fba8e
+size 5696775
diff --git a/actions/locomotion_primitives/P21/session_001/motions/smplx.npz b/actions/locomotion_primitives/P21/session_001/motions/smplx.npz
index 286d7f1f68e9fbacf5db633b2416d199c1d1c6c2..11aad80c76cf8f3fcf90243b280b21ed01494fc9 100644
--- a/actions/locomotion_primitives/P21/session_001/motions/smplx.npz
+++ b/actions/locomotion_primitives/P21/session_001/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7bc358decc471d8623ec04a67924b0541e7cbc3bf329ebe725a1a2120e551a87
-size 6808192
+oid sha256:ff14744a3b81b684246da75f7063095ec19f1d1e1a0234ad1fcb43241ff020bd
+size 12750364
diff --git a/actions/locomotion_primitives/P21/session_002/annotations.json b/actions/locomotion_primitives/P21/session_002/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..898cc4892b1e88f252798a9d6797a4086c6e5a19
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_002/annotations.json
@@ -0,0 +1,127 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 1, 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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+   "duration_s": 143.966667,
+   "video": "left_eye",
+   "video_t_start": 0.03816105725005903
+  }
+ ],
+ "episodes": [
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+   "action": "P21",
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+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
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+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 124.855,
+   "end_s": 136.257,
+   "t_start": 124.8932,
+   "t_end": 136.2952,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P21/session_002/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P21/session_002/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..21861ffcdace4c81c6f66a9ad763750978ef095c
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_002/cameras/gsi_online_calibration.json
@@ -0,0 +1,265 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 155,
+    "median_px": 634.11,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.382
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+   "gate_fail": [],
+   "held_out_px_after": 0.566,
+   "held_out_px_before": 7.589,
+   "inliers": 1820,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.0705,
+    0.9038,
+    0.4301
+   ],
+   "split_deg": 0.132,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.9908,
+   "gate_fail": [],
+   "held_out_px_after": 0.38,
+   "held_out_px_before": 2.491,
+   "inliers": 3562,
+   "position_fitted": true,
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+    7.03,
+    11.41
+   ],
+   "position_sigma_mm": 0.265,
+   "position_split_mm": 1.644,
+   "rotvec_deg": [
+    0.0621,
+    0.641,
+    -0.7529
+   ],
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+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+   "gate_fail": [],
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+   "held_out_px_before": 2.455,
+   "inliers": 2094,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2749,
+    -0.1022,
+    -0.1468
+   ],
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+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
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+   "gate_fail": [],
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+   "held_out_px_before": 2.526,
+   "inliers": 3598,
+   "position_fitted": true,
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+    -8.52,
+    5.88,
+    10.48
+   ],
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+   "position_split_mm": 2.333,
+   "rotvec_deg": [
+    0.1536,
+    0.325,
+    -0.5793
+   ],
+   "split_deg": 0.0803,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+   "inliers": 4414,
+   "position_fitted": false,
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+    -0.331,
+    0.5509,
+    -1.8644
+   ],
+   "split_deg": 0.0285,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "ded03fbf40b144287d473ba327b7bacbaf1753614fe84c185c4b5c22d38e65fc",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
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+   "sha256": "314541f66f6007e2ee05443c892d8b497cd9d91ddd1e79b2ed441d6788d7035b",
+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "41ac4328b99e061f78c7619138e811ac01d6d8868699a8dea66a1b0861186181",
+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "3f0706d72e32eeddd5ceb00733e2f434233a0bd4f34895131540e98e854764d0",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "0d17fd839086122b",
+ "kind": "online_calibration",
+ "output_sha256": "b2838551f602d4df2d1095df8ebf94ced2d457eb186de4ff22fd12d3d6360360",
+ "overlap": {
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+  "left_eye-left": 0.707,
+  "left_eye-right": 0.685,
+  "left_front-left": 0.484,
+  "left_front-left_eye": 0.709,
+  "left_front-right": 0.464,
+  "left_front-right_eye": 0.711,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.708,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.668,
+  "right_front-left": 0.482,
+  "right_front-left_eye": 0.711,
+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
+ "picture_change": {
+  "left": 43.29,
+  "left_eye": 37.927,
+  "left_front": 42.765,
+  "right": 40.884,
+  "right_eye": 39.714,
+  "right_front": 43.517
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
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+   6539472148888,
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+   6548472171111,
+   6549472160000,
+   6552472160000,
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+   6670472160000,
+   6673472160000,
+   6674472160000
+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P21/session_002/cameras/slam.npz b/actions/locomotion_primitives/P21/session_002/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..db9f75305f7c47d4f0281deb2525a1b7a848d679
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_002/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70e6f90e2805aa6422eed8c6e8b94b03bbdf783f145ad15936705c67cd1adfed
+size 826962
diff --git a/actions/locomotion_primitives/P21/session_002/meta.json b/actions/locomotion_primitives/P21/session_002/meta.json
index de0f7f75fe11b1d304764a22d6a351df93c45714..27f0d3ce3dc5f778ccd860f002cd4b1e87c65af5 100644
--- a/actions/locomotion_primitives/P21/session_002/meta.json
+++ b/actions/locomotion_primitives/P21/session_002/meta.json
@@ -333,8 +333,8 @@
   "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": {
@@ -515,10 +515,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
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+    "offset_rotvec": [
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+     -0.235,
+     -0.0147
+    ],
+    "dev_deg": {
+     "median": 7.81,
+     "p90": 16.8
+    },
+    "samples": 4080,
+    "accepted": 3974,
+    "wrist_pos_err_mm_median": 41.8,
+    "per_camera": {
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+      "samples": 4080,
+      "accepted": 3974,
+      "gate_deg": 30.0,
+      "offset_deg": 15.02,
+      "tier": "primary",
+      "dev_deg_median": 7.81,
+      "wrist_pos_err_mm_median": 41.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 16038,
+     "interpolated": 1234,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9993,
+    "observed_fraction_of_valid": 0.9993,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.52,
+     "smplx": 0.69
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
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+     },
+     "registered": {
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+     }
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+    "accepted": 3867,
+    "wrist_pos_err_mm_median": 30.8,
+    "per_camera": {
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+      "accepted": 3867,
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+      "tier": "primary",
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+     "no_body_fit": 0
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+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.76
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 9.1
+     },
+     "registered": {
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+      "p90": 8.5
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:36:13.025099+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_002",
   "family": "locomotion_primitives",
   "primitive": "P21",
   "source_session": "20260828/P21/20260828_072235_session37"
+ },
+ "task": {
+  "primitive": "P21",
+  "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
  }
 }
diff --git a/actions/locomotion_primitives/P21/session_002/motions/hands_mano.npz b/actions/locomotion_primitives/P21/session_002/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e33415680233cde103915cc58dd31726e3f02e61
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_002/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:636a1b5b7d98331da9aecd82a746399257818cddd66967d23fe7040b41604a17
+size 5431666
diff --git a/actions/locomotion_primitives/P21/session_002/motions/smplx.npz b/actions/locomotion_primitives/P21/session_002/motions/smplx.npz
index edd014e2419577efd0f3c2f1e4b77e609cfd153d..4508b8957bfbe68b3ed10dc1a2127981ff0f86ad 100644
--- a/actions/locomotion_primitives/P21/session_002/motions/smplx.npz
+++ b/actions/locomotion_primitives/P21/session_002/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7f2b4bcc255417764a8da95846f8b012eefda41f79192363620b920a3388cedb
-size 6646448
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+size 12455759
diff --git a/actions/locomotion_primitives/P21/session_003/annotations.json b/actions/locomotion_primitives/P21/session_003/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..3de5c0c027a6d22a3dd47e4b4a025f5356f9ee95
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_003/annotations.json
@@ -0,0 +1,72 @@
+{
+ "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": [
+  {
+   "id": "segment1",
+   "duration_s": 128.966611,
+   "video": "left_eye",
+   "video_t_start": 0.038817681420552974
+  }
+ ],
+ "episodes": [
+  {
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+   "segment": "segment1",
+   "action": "P21",
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+   "t_end": 22.0008,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 25.081,
+   "end_s": 45.242,
+   "t_start": 25.1198,
+   "t_end": 45.2808,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "76f5cc03-f219-4eb7-9f4e-5344dbb375de",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 47.793,
+   "end_s": 69.72,
+   "t_start": 47.8318,
+   "t_end": 69.7588,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "c42094bf-7e20-4d44-b145-35345106b635",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
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+   "t_start": 73.5158,
+   "t_end": 97.1738,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P21",
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+   "t_start": 99.8588,
+   "t_end": 123.0658,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P21/session_003/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P21/session_003/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..5756b2a016c59aa2dc1ff570f21c76e07025a52f
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_003/cameras/gsi_online_calibration.json
@@ -0,0 +1,264 @@
+{
+ "camera_fit": {
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+   {
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+    "median_px": 18.21,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.347
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.8681,
+   "gate_fail": [],
+   "held_out_px_after": 0.469,
+   "held_out_px_before": 7.55,
+   "inliers": 2481,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.102,
+    0.7849,
+    0.3565
+   ],
+   "split_deg": 0.0335,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.1099,
+   "gate_fail": [],
+   "held_out_px_after": 0.351,
+   "held_out_px_before": 3.129,
+   "inliers": 3960,
+   "position_fitted": true,
+   "position_mm": [
+    -9.96,
+    10.49,
+    13.56
+   ],
+   "position_sigma_mm": 0.292,
+   "position_split_mm": 1.639,
+   "rotvec_deg": [
+    0.0774,
+    0.7528,
+    -0.8118
+   ],
+   "split_deg": 0.0366,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.2231,
+   "gate_fail": [],
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+   "held_out_px_before": 2.851,
+   "inliers": 2397,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.1822,
+    -0.1001,
+    -0.0808
+   ],
+   "split_deg": 0.0564,
+   "usable": true
+  },
+  "right_eye": {
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+    "right_front",
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+    0.3698,
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+   "usable": true
+  },
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+   "against": [
+    "left_front",
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+    "right_eye",
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+    "right"
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+ "factory_root_name": "850a0e6aafa85fdf",
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+  "left_front": 41.932,
+  "right": 38.962,
+  "right_eye": 36.843,
+  "right_front": 42.319
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+  "opencv": "5.0.0",
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P21/session_003/cameras/slam.npz b/actions/locomotion_primitives/P21/session_003/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c12f38082e842c245f2aaaf3eebaa92ddd2a0620
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_003/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfa280dc08a0cd158bfcf036f3f145c01821b05306e211bb931198f10c65195c
+size 741181
diff --git a/actions/locomotion_primitives/P21/session_003/meta.json b/actions/locomotion_primitives/P21/session_003/meta.json
index 1730206e42c5bfc8fbaf2271d93fecd727438ef5..253fbf432d038cd3c6122b4b75796a75d4082f41 100644
--- a/actions/locomotion_primitives/P21/session_003/meta.json
+++ b/actions/locomotion_primitives/P21/session_003/meta.json
@@ -390,8 +390,8 @@
   "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": {
@@ -530,10 +530,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
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+     "p90": 26.09
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+    "accepted": 2731,
+    "wrist_pos_err_mm_median": 59.5,
+    "per_camera": {
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+      "accepted": 2731,
+      "gate_deg": 30.0,
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+      "tier": "primary",
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+     "no_body_fit": 39
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+    "palm_axis_vs_markers_deg": {
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+    "accepted": 2676,
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+      "accepted": 2676,
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+      "tier": "primary",
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+     "no_body_fit": 39
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+    "observed_fraction_of_valid": 0.9916,
+    "palm_axis_vs_markers_deg": {
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+    "hand_marker_to_mesh_mm": {
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+      "p90": 9.4
+     },
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+      "p90": 8.6
+     }
+    }
+   }
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+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T13:31:16.721763+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_003",
   "family": "locomotion_primitives",
   "primitive": "P21",
   "source_session": "20260903/P21/20260903_063531_session16"
+ },
+ "task": {
+  "primitive": "P21",
+  "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
  }
 }
diff --git a/actions/locomotion_primitives/P21/session_003/motions/hands_mano.npz b/actions/locomotion_primitives/P21/session_003/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0d7598248de58f721ecabf2737eca540bd4ec7c2
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_003/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9251b3134843d897e164e858bfde2faa9cb3ca327de0951f6631a03f1974ab9
+size 4080679
diff --git a/actions/locomotion_primitives/P21/session_003/motions/smplx.npz b/actions/locomotion_primitives/P21/session_003/motions/smplx.npz
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--- a/actions/locomotion_primitives/P21/session_003/motions/smplx.npz
+++ b/actions/locomotion_primitives/P21/session_003/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P21/session_004/annotations.json b/actions/locomotion_primitives/P21/session_004/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..4602d33a5a96dc804c179428a2861a09b1d7931b
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_004/annotations.json
@@ -0,0 +1,72 @@
+{
+ "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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+  }
+ ],
+ "episodes": [
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+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
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+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P21/session_004/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P21/session_004/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c3f4dbc53ef85ec282fbd7199f907810752bbf6
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_004/cameras/gsi_online_calibration.json
@@ -0,0 +1,266 @@
+{
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+    "pair": [
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+     "right"
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+  "median_px": 0.346
+ },
+ "cameras": {
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+   "against": [
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+    "right_front",
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+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
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diff --git a/actions/locomotion_primitives/P21/session_004/cameras/slam.npz b/actions/locomotion_primitives/P21/session_004/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7589350c0b666e7e35e287dfd4473c633a4745ef
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_004/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cca8639d41ac4197071bbf63c16fa43033eb254eb30303c0409598353eac864e
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diff --git a/actions/locomotion_primitives/P21/session_004/meta.json b/actions/locomotion_primitives/P21/session_004/meta.json
index 5482c8362d74e8975d1f11f35562f20a9147c20d..dcfcf79b9b0f0a80a7e4dd58c5451e790c28dcf6 100644
--- a/actions/locomotion_primitives/P21/session_004/meta.json
+++ b/actions/locomotion_primitives/P21/session_004/meta.json
@@ -391,8 +391,8 @@
   "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": {
@@ -531,10 +531,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
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+  "cameras": {},
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+    "accepted": 2613,
+    "wrist_pos_err_mm_median": 42.8,
+    "per_camera": {
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+      "accepted": 2613,
+      "gate_deg": 30.0,
+      "offset_deg": 13.01,
+      "tier": "primary",
+      "dev_deg_median": 9.3,
+      "wrist_pos_err_mm_median": 42.8
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+     "interpolated": 4198,
+     "mean_hand": 371,
+     "no_body_fit": 37
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+    "observed_fraction_of_valid": 0.976,
+    "palm_axis_vs_markers_deg": {
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+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
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+  "generated_at_utc": "2026-11-03T13:31:16.331655+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": "20260903/P21/20260903_063811_session17"
+ },
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  }
 }
diff --git a/actions/locomotion_primitives/P21/session_004/motions/hands_mano.npz b/actions/locomotion_primitives/P21/session_004/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7d1f23280763a1b37af60190e20d15df7807340b
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_004/motions/hands_mano.npz
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+version https://git-lfs.github.com/spec/v1
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+size 4090371
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--- a/actions/locomotion_primitives/P21/session_004/motions/smplx.npz
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new file mode 100644
index 0000000000000000000000000000000000000000..5e3fb97ef1c62f84e67f312aff17a7ed207cf9ed
--- /dev/null
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+{
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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",
+ "primitive": "P21",
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+   "video": "left_eye",
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+}
diff --git a/actions/locomotion_primitives/P21/session_005/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P21/session_005/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..23805593262ed6a9e47dcdd6e417b42e126406a9
--- /dev/null
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+++ b/actions/locomotion_primitives/P21/session_005/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:277a8cfc52cf0e38eb2d2393b2668bf62379507c9e0b5aa62b01ce33f672e2c4
+size 370854
diff --git a/actions/locomotion_primitives/P21/session_005/meta.json b/actions/locomotion_primitives/P21/session_005/meta.json
index c00bf1806a6b059e397ba77eaffb2c0cc2f5edd2..f0feec41b11ec66b0d895f43777e9ed679256531 100644
--- a/actions/locomotion_primitives/P21/session_005/meta.json
+++ b/actions/locomotion_primitives/P21/session_005/meta.json
@@ -328,8 +328,8 @@
   "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": {
@@ -508,10 +508,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.470567620639498
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 18.52,
+    "offset_rotvec": [
+     0.0398,
+     -0.3172,
+     0.0475
+    ],
+    "dev_deg": {
+     "median": 15.46,
+     "p90": 27.75
+    },
+    "samples": 1552,
+    "accepted": 1437,
+    "wrist_pos_err_mm_median": 55.6,
+    "per_camera": {
+     "head": {
+      "samples": 1552,
+      "accepted": 1437,
+      "gate_deg": 30.0,
+      "offset_deg": 18.52,
+      "tier": "primary",
+      "dev_deg_median": 15.46,
+      "wrist_pos_err_mm_median": 55.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 5885,
+     "interpolated": 1786,
+     "mean_hand": 5,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9983,
+    "observed_fraction_of_valid": 0.9993,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 21.66,
+     "smplx": 0.72
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 13.0,
+      "p90": 15.2
+     },
+     "registered": {
+      "median": 11.4,
+      "p90": 13.3
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 18.82,
+    "offset_rotvec": [
+     -0.2486,
+     0.201,
+     0.0749
+    ],
+    "dev_deg": {
+     "median": 10.44,
+     "p90": 31.17
+    },
+    "samples": 1349,
+    "accepted": 1202,
+    "wrist_pos_err_mm_median": 54.3,
+    "per_camera": {
+     "head": {
+      "samples": 1349,
+      "accepted": 1202,
+      "gate_deg": 30.0,
+      "offset_deg": 18.82,
+      "tier": "primary",
+      "dev_deg_median": 10.44,
+      "wrist_pos_err_mm_median": 54.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 4933,
+     "interpolated": 2510,
+     "mean_hand": 233,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9686,
+    "observed_fraction_of_valid": 0.9696,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 18.94,
+     "smplx": 0.41
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.5,
+      "p90": 8.2
+     },
+     "registered": {
+      "median": 6.1,
+      "p90": 8.9
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T14:29:34.526600+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_005",
   "family": "locomotion_primitives",
   "primitive": "P21",
   "source_session": "20260907/P21/20260907_094218_session187"
+ },
+ "task": {
+  "primitive": "P21",
+  "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
  }
 }
diff --git a/actions/locomotion_primitives/P21/session_005/motions/hands_mano.npz b/actions/locomotion_primitives/P21/session_005/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..110a282d93176f21893c52e488de08e9b7f341c7
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_005/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fa32e76949728012d8e2320fb96ffa6758add4c3023c9f9d19bbe100a2a9c86
+size 2000727
diff --git a/actions/locomotion_primitives/P21/session_005/motions/smplx.npz b/actions/locomotion_primitives/P21/session_005/motions/smplx.npz
index 8fda636170cb67e0e17d6de45e4b322958234d8d..a4671de46b7fe73040e1acc6a2bb3fccaf805752 100644
--- a/actions/locomotion_primitives/P21/session_005/motions/smplx.npz
+++ b/actions/locomotion_primitives/P21/session_005/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:197a4d8bebfbb124fe935d59a4705a763301338abc9f63d0c7c8d0fab57b74fd
-size 2965561
+oid sha256:34b1eb9a216dd31a4d7b82ed63580c861beb7828e4fe788d88ec8ac08b5dd134
+size 5519174
diff --git a/actions/locomotion_primitives/P21/session_006/annotations.json b/actions/locomotion_primitives/P21/session_006/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..e44cc7aaa5a19cd953edb9b4359b3a8ad872a0bd
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_006/annotations.json
@@ -0,0 +1,94 @@
+{
+ "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": [
+  {
+   "id": "segment1",
+   "duration_s": 93.966511,
+   "video": "left_eye",
+   "video_t_start": 0.039138925292439675
+  }
+ ],
+ "episodes": [
+  {
+   "id": "abd4ffff-9e69-43a1-a8fe-d38e07158961",
+   "segment": "segment1",
+   "action": "P21",
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+   "start_s": 1.519,
+   "end_s": 11.37,
+   "t_start": 1.5581,
+   "t_end": 11.4091,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "02f8fd82-162a-4d63-ace7-28df0c566fc3",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 13.37,
+   "end_s": 23.885,
+   "t_start": 13.4091,
+   "t_end": 23.9241,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "ceca24cc-ba9d-4174-8349-429fb98a607f",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 25.885,
+   "end_s": 35.387,
+   "t_start": 25.9241,
+   "t_end": 35.4261,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "72e448a2-9d04-42bb-9c68-34b3048168af",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 38.075,
+   "end_s": 48.976,
+   "t_start": 38.1141,
+   "t_end": 49.0151,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "b9fc9394-fda8-4130-8478-b612aa4b8641",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 51.476,
+   "end_s": 63.115,
+   "t_start": 51.5151,
+   "t_end": 63.1541,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "6393fa65-1a67-4f6a-87f4-d95f560a6376",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 65.115,
+   "end_s": 76.053,
+   "t_start": 65.1541,
+   "t_end": 76.0921,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "c8b94e20-13b7-4af0-8576-b9d6b5054e34",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 78.348,
+   "end_s": 89.041,
+   "t_start": 78.3871,
+   "t_end": 89.0801,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P21/session_006/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P21/session_006/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..6329a784c877076d340499a23d45eab4adbccedd
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_006/cameras/gsi_online_calibration.json
@@ -0,0 +1,253 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.368
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.4977,
+   "gate_fail": [],
+   "held_out_px_after": 0.576,
+   "held_out_px_before": 2.571,
+   "inliers": 1984,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.4231,
+    -0.2458,
+    -0.091
+   ],
+   "split_deg": 0.0598,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.4435,
+   "gate_fail": [],
+   "held_out_px_after": 0.383,
+   "held_out_px_before": 5.504,
+   "inliers": 3066,
+   "position_fitted": true,
+   "position_mm": [
+    5.17,
+    -15.85,
+    4.84
+   ],
+   "position_sigma_mm": 0.34,
+   "position_split_mm": 3.666,
+   "rotvec_deg": [
+    0.1856,
+    0.5125,
+    -1.3367
+   ],
+   "split_deg": 0.1087,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.4511,
+   "gate_fail": [],
+   "held_out_px_after": 0.502,
+   "held_out_px_before": 5.966,
+   "inliers": 2083,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.2549,
+    -0.3237,
+    0.6528
+   ],
+   "split_deg": 0.115,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.7463,
+   "gate_fail": [],
+   "held_out_px_after": 0.362,
+   "held_out_px_before": 3.37,
+   "inliers": 2822,
+   "position_fitted": true,
+   "position_mm": [
+    1.42,
+    -15.87,
+    5.47
+   ],
+   "position_sigma_mm": 0.35,
+   "position_split_mm": 3.502,
+   "rotvec_deg": [
+    0.4501,
+    -0.5937,
+    -0.0437
+   ],
+   "split_deg": 0.0977,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0866,
+   "gate_fail": [],
+   "held_out_px_after": 0.325,
+   "held_out_px_before": 3.686,
+   "inliers": 4567,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.1539,
+    -0.2064,
+    -1.0557
+   ],
+   "split_deg": 0.008,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "53398aa5d3a0cad3e1bf0da541fc9909b02296c946fad917a587abf8c68b491f",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "ce58bab9e643b280a78e4fe6ac59ece8cd24fcd875b2c804285d4bbe458f628c",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "6f7de88c61b4ac68d001b4c31090840074c1c50b0c94e39aa653ea89210d7c77",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "da8521d52ad85ceb5684aab661444ff5e0dded267383ec27924897c555a738b5",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "b4f9813967af3cef",
+ "kind": "online_calibration",
+ "output_sha256": "3d49b3cd8c9b16e6ddad53edf87053c9e2c08cad7652ead669cb3f7df3d3c5df",
+ "overlap": {
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+  "left_eye-left": 0.707,
+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 35.372,
+  "left_eye": 33.529,
+  "left_front": 39.689,
+  "right": 39.895,
+  "right_eye": 32.641,
+  "right_front": 40.78
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   10513232421444,
+   10514232454777,
+   10517232443666,
+   10518232443666,
+   10521232421444,
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+   10573232432555,
+   10574232421444,
+   10578232443666,
+   10579232421444,
+   10580232432555,
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+   10584232421444,
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+   10598232565888,
+   10599232577000,
+   10601232454777,
+   10602232443666
+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P21/session_006/cameras/slam.npz b/actions/locomotion_primitives/P21/session_006/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..50ad758926e203d1f2f47b30aafa5005d6bc7665
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_006/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89042847cd86942fbbdb54c33b69bd3bba98e38ad372d8fa812f2eeed31beef0
+size 544126
diff --git a/actions/locomotion_primitives/P21/session_006/meta.json b/actions/locomotion_primitives/P21/session_006/meta.json
index 3e7f3aeeb5c0eb6a40d1a00d452432678bb98a61..5c26091fb39a05a7997db8f4eeaf5d7d60008d6d 100644
--- a/actions/locomotion_primitives/P21/session_006/meta.json
+++ b/actions/locomotion_primitives/P21/session_006/meta.json
@@ -329,8 +329,8 @@
   "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": {
@@ -509,10 +509,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.4714785500688502
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 17.9,
+    "offset_rotvec": [
+     0.0059,
+     -0.3084,
+     0.0492
+    ],
+    "dev_deg": {
+     "median": 15.49,
+     "p90": 27.67
+    },
+    "samples": 2096,
+    "accepted": 1923,
+    "wrist_pos_err_mm_median": 58.9,
+    "per_camera": {
+     "head": {
+      "samples": 2096,
+      "accepted": 1923,
+      "gate_deg": 30.0,
+      "offset_deg": 17.9,
+      "tier": "primary",
+      "dev_deg_median": 15.49,
+      "wrist_pos_err_mm_median": 58.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 7894,
+     "interpolated": 3074,
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
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+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P21/session_006",
   "family": "locomotion_primitives",
   "primitive": "P21",
   "source_session": "20260907/P21/20260907_094351_session188"
+ },
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+  "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
  }
 }
diff --git a/actions/locomotion_primitives/P21/session_006/motions/hands_mano.npz b/actions/locomotion_primitives/P21/session_006/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4aaf7c7fc32a94047f78f982a482f127144f0ee7
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_006/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cdcb052500e73aa822ea5891bc1402228914f11a2bbdee6c335ced0478f035f
+size 2917273
diff --git a/actions/locomotion_primitives/P21/session_006/motions/smplx.npz b/actions/locomotion_primitives/P21/session_006/motions/smplx.npz
index cf7526918643328b6532cf80b20c78d792687e13..ddf9592445460994c5084178a1fe4bd937d02296 100644
--- a/actions/locomotion_primitives/P21/session_006/motions/smplx.npz
+++ b/actions/locomotion_primitives/P21/session_006/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P21/session_007/annotations.json b/actions/locomotion_primitives/P21/session_007/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3b43e7ea48294c0403a67c7ea0f557a2d1413e1
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_007/annotations.json
@@ -0,0 +1,105 @@
+{
+ "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",
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+ ]
+}
diff --git a/actions/locomotion_primitives/P21/session_007/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P21/session_007/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..b621f4b9bf0d454ca71608828377c070c579aace
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_007/cameras/gsi_online_calibration.json
@@ -0,0 +1,253 @@
+{
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+  "median_px": 0.322
+ },
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+    "right_eye",
+    "left",
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+    -7.66,
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+   "position_split_mm": 0.826,
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+    -1.6045
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+  },
+  "left_front": {
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+    "left_front",
+    "right_front",
+    "left_eye",
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+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
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+  },
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+  }
+ },
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+ "kind": "online_calibration",
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+  "right_front-right_eye": 0.734
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+  "left_front": 37.466,
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+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P21/session_007/cameras/slam.npz b/actions/locomotion_primitives/P21/session_007/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2e3bfb25df7c3b30026e8967738cdc0368b0e84b
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_007/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2415dd4fedfbb3175713c74f48bd4522ec4925d33836d10fbc2347ebca45dfe1
+size 572401
diff --git a/actions/locomotion_primitives/P21/session_007/meta.json b/actions/locomotion_primitives/P21/session_007/meta.json
index d6d230cee45034c17491b93511947c7a2dce91a5..e92a8a5579058ff496861ece67817737a5022617 100644
--- a/actions/locomotion_primitives/P21/session_007/meta.json
+++ b/actions/locomotion_primitives/P21/session_007/meta.json
@@ -328,8 +328,8 @@
   "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": {
@@ -531,10 +531,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.1122521088492299
  },
+ "hands_registration": {
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+    "per_camera": {
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+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  "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": "20260909/P21/20260909_075221_session126"
+ },
+ "task": {
+  "primitive": "P21",
+  "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
  }
 }
diff --git a/actions/locomotion_primitives/P21/session_007/motions/hands_mano.npz b/actions/locomotion_primitives/P21/session_007/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..22d0e962e4c60a408aa61fd3c3914d3bdae92e93
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_007/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67a93fec1fee5340913ffcc711b9ced5c78ca5de60916960e00e9fc4ead66518
+size 3165191
diff --git a/actions/locomotion_primitives/P21/session_007/motions/smplx.npz b/actions/locomotion_primitives/P21/session_007/motions/smplx.npz
index b04635594ef1ea26091f97db68dcb96c65728540..b9d8967a076b9605f545873d1aa099550e384d9c 100644
--- a/actions/locomotion_primitives/P21/session_007/motions/smplx.npz
+++ b/actions/locomotion_primitives/P21/session_007/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P21/session_008/annotations.json b/actions/locomotion_primitives/P21/session_008/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dad5ff2eba986603b4992047e3f207516520400
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_008/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.",
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+  }
+ ],
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+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P21/session_008/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P21/session_008/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f5483a407f72ac604a331181fc5f514a7e271be
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_008/cameras/gsi_online_calibration.json
@@ -0,0 +1,252 @@
+{
+ "camera_fit": {
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+  "groups_used": 14,
+  "median_px": 0.341
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
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+    -0.5436
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+   "split_deg": 0.0219,
+   "usable": true
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+  "left_eye": {
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+    "right_front",
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+    "left",
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+    -7.17,
+    10.03
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+   "position_split_mm": 2.869,
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+    0.5897,
+    -1.5562
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+   "split_deg": 0.0708,
+   "usable": true
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+  "left_front": {
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+  },
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+    "right_front",
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+    -0.4185,
+    0.5316
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+   "usable": true
+  },
+  "right_eye": {
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
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+    11.13
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+    -0.5202,
+    -0.2025
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+   "split_deg": 0.0505,
+   "usable": true
+  },
+  "right_front": {
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+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
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+   "held_out_px_before": 5.141,
+   "inliers": 4913,
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+   "rotvec_deg": [
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+    -0.047,
+    -1.011
+   ],
+   "split_deg": 0.0029,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "fdd2dc688e70b288ccf8f34c671341f7c7bb57d355dbfdd7df137210cff8749d",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "5ce0b34ea9ddcd7061564bb1b41de4ea352f89ccd615de9cd57e83192bf9d2ef",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
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+  },
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+   "sha256": "9bb2cec38e01fc498c6cfb2a8de614e4602b56c22774312c3c83ea878113f32f",
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+  }
+ },
+ "input_fingerprint": "6fb3c16786a3c4c8",
+ "kind": "online_calibration",
+ "output_sha256": "11995e11d068c70de94ae825f6a3a9cdd54cb1eaf600f58d61cb36891cfbabc8",
+ "overlap": {
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+  "left_front-right_front": 1.0,
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+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
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+  "left_eye": 34.694,
+  "left_front": 37.383,
+  "right": 37.983,
+  "right_eye": 34.858,
+  "right_front": 35.296
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P21/session_008/cameras/slam.npz b/actions/locomotion_primitives/P21/session_008/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1f239b0913fa4fa494629f3e10f8cd0d5269b958
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_008/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6942a0918638ebe4c501fd2aee68e495bb11475cf22962a804bb6939a6ac7000
+size 427847
diff --git a/actions/locomotion_primitives/P21/session_008/meta.json b/actions/locomotion_primitives/P21/session_008/meta.json
index 93218fe65aab09ac0d7a2efeee87d6a8a1dcab71..1896dce5c81ed54c73baef95496686c562e7b1b9 100644
--- a/actions/locomotion_primitives/P21/session_008/meta.json
+++ b/actions/locomotion_primitives/P21/session_008/meta.json
@@ -329,8 +329,8 @@
   "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": {
@@ -517,10 +517,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.800221538669061
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     -0.0717,
+     -0.1589,
+     0.1378
+    ],
+    "dev_deg": {
+     "median": 8.88,
+     "p90": 25.11
+    },
+    "samples": 1348,
+    "accepted": 1266,
+    "wrist_pos_err_mm_median": 62.7,
+    "per_camera": {
+     "head": {
+      "samples": 1348,
+      "accepted": 1266,
+      "gate_deg": 30.0,
+      "offset_deg": 12.73,
+      "tier": "primary",
+      "dev_deg_median": 8.88,
+      "wrist_pos_err_mm_median": 62.7
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 3314,
+     "mean_hand": 313,
+     "no_body_fit": 8
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+    "observed_fraction_of_valid": 0.9647,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 11.21,
+     "smplx": 0.42
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 8.6
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+     "registered": {
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+      "p90": 9.7
+     }
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+     0.0125
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+    "dev_deg": {
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+     "p90": 25.01
+    },
+    "samples": 1986,
+    "accepted": 1867,
+    "wrist_pos_err_mm_median": 66.9,
+    "per_camera": {
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+      "accepted": 1867,
+      "gate_deg": 30.0,
+      "offset_deg": 15.19,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 66.9
+     }
+    },
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+     "interpolated": 812,
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+     "no_body_fit": 8
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+    "observed_fraction_of_valid": 0.9413,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 11.04,
+     "smplx": 0.36
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.8,
+      "p90": 9.0
+     },
+     "registered": {
+      "median": 7.3,
+      "p90": 8.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T15:43:21.424266+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_008",
   "family": "locomotion_primitives",
   "primitive": "P21",
   "source_session": "20260909/P21/20260909_075437_session127"
+ },
+ "task": {
+  "primitive": "P21",
+  "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
  }
 }
diff --git a/actions/locomotion_primitives/P21/session_008/motions/hands_mano.npz b/actions/locomotion_primitives/P21/session_008/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..160911c2da769a68755a1490054e4cd9c6ce081d
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_008/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a789e5d031aaa9cfcbb214516a28f46fb3fc0d50cb7d0892fe239e85c1b941fa
+size 2297254
diff --git a/actions/locomotion_primitives/P21/session_008/motions/smplx.npz b/actions/locomotion_primitives/P21/session_008/motions/smplx.npz
index 81bd83d114bd2e1f945ddcdf3021d7538aa555b1..c8ebafc2d764972b6decf8662c459d836cd9be75 100644
--- a/actions/locomotion_primitives/P21/session_008/motions/smplx.npz
+++ b/actions/locomotion_primitives/P21/session_008/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 3423893
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diff --git a/actions/locomotion_primitives/P21/session_009/annotations.json b/actions/locomotion_primitives/P21/session_009/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..79eb8db275752eba6de4353c17c8ab6f8a7b8342
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_009/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": "P21",
+ "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 128.966633,
+   "video": "left_eye",
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+  }
+ ],
+ "episodes": [
+  {
+   "id": "575ac89b-cfc2-445b-b948-61326eabd3c3",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 124.097,
+   "t_start": 0.039,
+   "t_end": 124.136,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P21/session_009/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P21/session_009/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..53103807e8c00101c360da62566b5e439d047af3
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_009/cameras/gsi_online_calibration.json
@@ -0,0 +1,255 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.401
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+    -0.5964
+   ],
+   "split_deg": 0.1152,
+   "usable": true
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+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
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+    0.5747,
+    -1.7813
+   ],
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+    -0.2122
+   ],
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+   "usable": true
+  },
+  "right_eye": {
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+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
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+    -0.4121,
+    -0.4723
+   ],
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+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+   "held_out_px_before": 5.097,
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+    -0.0015,
+    -1.297
+   ],
+   "split_deg": 0.0153,
+   "usable": true
+  }
+ },
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+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
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+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "304e3a03068562489e7a3ba2390239ca52fec0c4822a5b19f794119777e6a3cf",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
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+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "b6593aef3a0688acb47a989091f605475e3ecbff919a2efb1097e2a96ab585da",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "278636c155930c8b",
+ "kind": "online_calibration",
+ "output_sha256": "ee8b0e61f634cfde19922969a8f5d29b987c9e74a56de0352e4ab0323d0cbd8c",
+ "overlap": {
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+  "left_eye-left": 0.707,
+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
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+  "left_eye": 31.239,
+  "left_front": 38.716,
+  "right": 40.663,
+  "right_eye": 30.921,
+  "right_front": 36.639
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P21/session_009/cameras/slam.npz b/actions/locomotion_primitives/P21/session_009/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7b4a0ead3c98b2dd4189fae7c6c80be26a20f44a
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_009/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb9f35c54435f4aa684073f474d1bee7dc441d464a3500eced97cdb304f3af43
+size 743819
diff --git a/actions/locomotion_primitives/P21/session_009/meta.json b/actions/locomotion_primitives/P21/session_009/meta.json
index 5925643b8396691bea2a5794eb8c86fdd9ab3022..c61b5e39f638c2f6e7a417763a40698231423ee2 100644
--- a/actions/locomotion_primitives/P21/session_009/meta.json
+++ b/actions/locomotion_primitives/P21/session_009/meta.json
@@ -321,8 +321,8 @@
   "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": {
@@ -517,10 +517,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.099047621956987
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     -0.0215,
+     0.2159,
+     -0.136
+    ],
+    "dev_deg": {
+     "median": 9.42,
+     "p90": 25.71
+    },
+    "samples": 3232,
+    "accepted": 2997,
+    "wrist_pos_err_mm_median": 36.7,
+    "per_camera": {
+     "head": {
+      "samples": 3232,
+      "accepted": 2997,
+      "gate_deg": 30.0,
+      "offset_deg": 14.67,
+      "tier": "primary",
+      "dev_deg_median": 9.42,
+      "wrist_pos_err_mm_median": 36.7
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 3076,
+     "mean_hand": 189,
+     "no_body_fit": 64
+    },
+    "observed_fraction": 0.9837,
+    "observed_fraction_of_valid": 0.9877,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 16.58,
+     "smplx": 1.23
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.1,
+      "p90": 16.5
+     },
+     "registered": {
+      "median": 8.7,
+      "p90": 14.9
+     }
+    }
+   },
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+     -0.1908,
+     0.1087
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+     "p90": 30.48
+    },
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+    "accepted": 1946,
+    "wrist_pos_err_mm_median": 53.4,
+    "per_camera": {
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+      "accepted": 1946,
+      "gate_deg": 30.0,
+      "offset_deg": 14.97,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 53.4
+     }
+    },
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+     "interpolated": 6838,
+     "mean_hand": 517,
+     "no_body_fit": 64
+    },
+    "observed_fraction": 0.9625,
+    "observed_fraction_of_valid": 0.9665,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 16.5,
+     "smplx": 1.3
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.3,
+      "p90": 12.3
+     },
+     "registered": {
+      "median": 8.3,
+      "p90": 12.0
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T19:18:35.957183+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_009",
   "family": "locomotion_primitives",
   "primitive": "P21",
   "source_session": "20260914/P21/20260914_112456_session19"
+ },
+ "task": {
+  "primitive": "P21",
+  "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
  }
 }
diff --git a/actions/locomotion_primitives/P21/session_009/motions/hands_mano.npz b/actions/locomotion_primitives/P21/session_009/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8025b75a3b301feb3389aa19d80be705f66e1a5a
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_009/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b06e1e85488f674cbfb2b6cf233b0f335e792cd04a184321e30f4f1c4f66f041
+size 3748607
diff --git a/actions/locomotion_primitives/P21/session_009/motions/smplx.npz b/actions/locomotion_primitives/P21/session_009/motions/smplx.npz
index 3642555c0e2b995a696b1ae97a775b3ea7f3c97a..e530696afdfe53ce8622c167745e5667332f0136 100644
--- a/actions/locomotion_primitives/P21/session_009/motions/smplx.npz
+++ b/actions/locomotion_primitives/P21/session_009/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0ce36a85afcb9f1493bd1b233d4b1429ba5b3720b9c0695761e9d4ec3bff7959
-size 5936688
+oid sha256:796cc05ba6f9138163ee11f436609f18d9f314f9bfcf2dfadd4e78d93dcdf808
+size 11010711
diff --git a/actions/locomotion_primitives/P21/session_010/annotations.json b/actions/locomotion_primitives/P21/session_010/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f8e7f8138c914b401c6c785233ca7ce39df81b6
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_010/annotations.json
@@ -0,0 +1,72 @@
+{
+ "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": [
+  {
+   "id": "segment1",
+   "duration_s": 128.966711,
+   "video": "left_eye",
+   "video_t_start": 0.03896175282643033
+  }
+ ],
+ "episodes": [
+  {
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+   "segment": "segment1",
+   "action": "P21",
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+   "end_s": 24.31,
+   "t_start": 1.924,
+   "t_end": 24.349,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P21",
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+   "end_s": 48.437,
+   "t_start": 24.349,
+   "t_end": 48.476,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "017f6f4c-fc96-445e-840f-4e12b37b6732",
+   "segment": "segment1",
+   "action": "P21",
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+   "start_s": 48.437,
+   "end_s": 70.964,
+   "t_start": 48.476,
+   "t_end": 71.003,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "9a3120c3-8b26-44a9-a077-d3cc66009ca7",
+   "segment": "segment1",
+   "action": "P21",
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+   "t_start": 71.003,
+   "t_end": 99.899,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "ef061fc3-2881-49a8-b284-e67e98af4ff3",
+   "segment": "segment1",
+   "action": "P21",
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+   "end_s": 123.816,
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+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P21/session_010/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P21/session_010/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..20ee1fafbd3e79749929c27ad95a817b4bb09f6d
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_010/cameras/gsi_online_calibration.json
@@ -0,0 +1,257 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.404
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.1654,
+   "gate_fail": [],
+   "held_out_px_after": 0.515,
+   "held_out_px_before": 4.433,
+   "inliers": 2284,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.5882,
+    -0.3466,
+    -0.9444
+   ],
+   "split_deg": 0.0846,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9407,
+   "gate_fail": [],
+   "held_out_px_after": 0.415,
+   "held_out_px_before": 5.883,
+   "inliers": 3552,
+   "position_fitted": true,
+   "position_mm": [
+    4.14,
+    -13.19,
+    5.82
+   ],
+   "position_sigma_mm": 0.273,
+   "position_split_mm": 1.13,
+   "rotvec_deg": [
+    0.142,
+    0.608,
+    -1.8375
+   ],
+   "split_deg": 0.0267,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.4426,
+   "gate_fail": [],
+   "held_out_px_after": 0.557,
+   "held_out_px_before": 3.801,
+   "inliers": 1318,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.3382,
+    -0.5376,
+    0.0343
+   ],
+   "split_deg": 0.1106,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
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+    6.39
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+    -0.4974,
+    -0.4507
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+   "usable": true
+  },
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+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+    -1.2944
+   ],
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+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
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+ "output_sha256": "333830bf2e68cd2d764fbc0ec78b6606f05aaed98f70eb989aef93f43b0ecf98",
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+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
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+  "right_eye-right": 0.673,
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+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
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+  "left_front": 40.673,
+  "right": 40.214,
+  "right_eye": 33.52,
+  "right_front": 38.012
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+ "runtime": {
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+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
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+ "selection": {
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+ },
+ "version": 1
+}
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diff --git a/actions/locomotion_primitives/P21/session_010/cameras/slam.npz b/actions/locomotion_primitives/P21/session_010/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c907aa58fb601e06252089719e5cbce9a047b096
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_010/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b569f7a0227ed56b73cc2639538584f1e180aa2ef0a85a4d127180b233dfd878
+size 745451
diff --git a/actions/locomotion_primitives/P21/session_010/meta.json b/actions/locomotion_primitives/P21/session_010/meta.json
index 9aa99cc5eb911d116001f97d9a37275d612ed313..29511288e17098f9825bb64e096a9cfe92a2bf7c 100644
--- a/actions/locomotion_primitives/P21/session_010/meta.json
+++ b/actions/locomotion_primitives/P21/session_010/meta.json
@@ -328,8 +328,8 @@
   "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": {
@@ -514,10 +514,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.0813055051311893
  },
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+  "cameras": {},
+  "hands": {
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+     "p90": 37.77
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+    "accepted": 2577,
+    "wrist_pos_err_mm_median": 60.8,
+    "per_camera": {
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+      "accepted": 2577,
+      "gate_deg": 30.0,
+      "offset_deg": 4.93,
+      "tier": "primary",
+      "dev_deg_median": 13.58,
+      "wrist_pos_err_mm_median": 60.8
+     }
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+     "interpolated": 4792,
+     "mean_hand": 133,
+     "no_body_fit": 8
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+    "observed_fraction_of_valid": 0.9914,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.69
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 20.9
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+     "p90": 35.85
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+    "accepted": 2338,
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+    "per_camera": {
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+      "tier": "primary",
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+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.61
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+      "p90": 20.0
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+      "p90": 19.0
+     }
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+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:55:58.794353+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": "20260919/P21/20260919_030827_session40"
+ },
+ "task": {
+  "primitive": "P21",
+  "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
  }
 }
diff --git a/actions/locomotion_primitives/P21/session_010/motions/hands_mano.npz b/actions/locomotion_primitives/P21/session_010/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..140c5100f39d028fe940c83d031ecae633041adf
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_010/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a5910b23340561a265861b9cb659b82e8e42cd4ccf376b9bb80073b08cdf137
+size 3924864
diff --git a/actions/locomotion_primitives/P21/session_010/motions/smplx.npz b/actions/locomotion_primitives/P21/session_010/motions/smplx.npz
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--- a/actions/locomotion_primitives/P21/session_010/motions/smplx.npz
+++ b/actions/locomotion_primitives/P21/session_010/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P21/session_011/annotations.json b/actions/locomotion_primitives/P21/session_011/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..547ee3c80ca4489253b88da0b093583812714cce
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_011/annotations.json
@@ -0,0 +1,72 @@
+{
+ "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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+   "duration_s": 123.966656,
+   "video": "left_eye",
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+  }
+ ],
+ "episodes": [
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+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
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+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
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+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
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+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P21/session_011/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P21/session_011/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2b82bf297de6c9889cfabbc1ad89b71648c43fd
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_011/cameras/gsi_online_calibration.json
@@ -0,0 +1,257 @@
+{
+ "camera_fit": {
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+ },
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+    "right_front",
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+    -0.9547
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+    "right_eye",
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+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
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+ },
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+ "output_sha256": "5dca13543992e9268244bf8d715a459a00b698bc7cc8b5c424b4c3c2b0a57091",
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diff --git a/actions/locomotion_primitives/P21/session_011/cameras/slam.npz b/actions/locomotion_primitives/P21/session_011/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3489ff2ce3699116bc1dc17a057c64f08e789a41
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_011/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/actions/locomotion_primitives/P21/session_011/meta.json b/actions/locomotion_primitives/P21/session_011/meta.json
index 66ccff31950b2b56a9a1081a0bd24391711474f0..63b4d84d48b3cd263849865b2b653438522bebbf 100644
--- a/actions/locomotion_primitives/P21/session_011/meta.json
+++ b/actions/locomotion_primitives/P21/session_011/meta.json
@@ -342,8 +342,8 @@
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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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@@ -529,10 +529,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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   "family": "locomotion_primitives",
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   "source_session": "20260919/P21/20260919_031047_session41"
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  }
 }
diff --git a/actions/locomotion_primitives/P21/session_011/motions/hands_mano.npz b/actions/locomotion_primitives/P21/session_011/motions/hands_mano.npz
new file mode 100644
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new file mode 100644
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+ "primitive": "P21",
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+}
diff --git a/actions/locomotion_primitives/P21/session_012/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P21/session_012/cameras/gsi_online_calibration.json
new file mode 100644
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--- /dev/null
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+size 487656
diff --git a/actions/locomotion_primitives/P21/session_012/meta.json b/actions/locomotion_primitives/P21/session_012/meta.json
index c2396c884d5382c7cf22b182f03d308616c7476f..8052a530ffa48f44b2b47f53990435db3b07e3ba 100644
--- a/actions/locomotion_primitives/P21/session_012/meta.json
+++ b/actions/locomotion_primitives/P21/session_012/meta.json
@@ -318,8 +318,8 @@
   "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": {
@@ -509,10 +509,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.7080480050195478
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 25.24,
+    "offset_rotvec": [
+     0.3476,
+     -0.1957,
+     -0.1868
+    ],
+    "dev_deg": {
+     "median": 13.13,
+     "p90": 34.92
+    },
+    "samples": 1042,
+    "accepted": 882,
+    "wrist_pos_err_mm_median": 67.3,
+    "per_camera": {
+     "head": {
+      "samples": 1042,
+      "accepted": 882,
+      "gate_deg": 30.0,
+      "offset_deg": 25.24,
+      "tier": "primary",
+      "dev_deg_median": 13.13,
+      "wrist_pos_err_mm_median": 67.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 3729,
+     "interpolated": 5510,
+     "mean_hand": 837,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9162,
+    "observed_fraction_of_valid": 0.9169,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 27.6,
+     "smplx": 0.79
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 12.0,
+      "p90": 18.4
+     },
+     "registered": {
+      "median": 12.2,
+      "p90": 17.9
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 18.62,
+    "offset_rotvec": [
+     0.1079,
+     -0.1741,
+     0.2523
+    ],
+    "dev_deg": {
+     "median": 11.38,
+     "p90": 40.96
+    },
+    "samples": 1195,
+    "accepted": 970,
+    "wrist_pos_err_mm_median": 71.3,
+    "per_camera": {
+     "head": {
+      "samples": 1195,
+      "accepted": 970,
+      "gate_deg": 30.0,
+      "offset_deg": 18.62,
+      "tier": "primary",
+      "dev_deg_median": 11.38,
+      "wrist_pos_err_mm_median": 71.3
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 5380,
+     "mean_hand": 657,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9341,
+    "observed_fraction_of_valid": 0.9348,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 19.52,
+     "smplx": 0.63
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 14.7,
+      "p90": 23.4
+     },
+     "registered": {
+      "median": 14.5,
+      "p90": 22.6
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:55:56.391485+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_012",
   "family": "locomotion_primitives",
   "primitive": "P21",
   "source_session": "20260919/P21/20260919_091600_session154"
+ },
+ "task": {
+  "primitive": "P21",
+  "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
  }
 }
diff --git a/actions/locomotion_primitives/P21/session_012/motions/hands_mano.npz b/actions/locomotion_primitives/P21/session_012/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cab0ebc7405c285255e0f89d5cacd606ce11d7d5
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_012/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7983815f977f16c0033c1efa683b02086256299bbfa3ca754ce8b665a4d4990a
+size 1611721
diff --git a/actions/locomotion_primitives/P21/session_012/motions/smplx.npz b/actions/locomotion_primitives/P21/session_012/motions/smplx.npz
index 8a0e1a60301602b37959b637f2bb6018ef89050f..b5c49b0aff1592ee41bbf47db4423bf0fc054745 100644
--- a/actions/locomotion_primitives/P21/session_012/motions/smplx.npz
+++ b/actions/locomotion_primitives/P21/session_012/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 3889374
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+size 7133240
diff --git a/actions/locomotion_primitives/P21/session_013/annotations.json b/actions/locomotion_primitives/P21/session_013/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..83806e66774888b2b2d4de22f170f01a259c6f71
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_013/annotations.json
@@ -0,0 +1,72 @@
+{
+ "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": [
+  {
+   "id": "segment1",
+   "duration_s": 83.966711,
+   "video": "left_eye",
+   "video_t_start": 0.038787314712964704
+  }
+ ],
+ "episodes": [
+  {
+   "id": "ae8bba5c-293a-48c3-864e-5d7678429340",
+   "segment": "segment1",
+   "action": "P21",
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+   "end_s": 17.171,
+   "t_start": 1.0208,
+   "t_end": 17.2098,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "c2766586-aa2e-4239-b744-40d752def7d9",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
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+   "end_s": 32.48,
+   "t_start": 17.2098,
+   "t_end": 32.5188,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "d65cb94e-08a6-4067-8ebe-476d68e808b9",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
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+   "end_s": 49.865,
+   "t_start": 32.5188,
+   "t_end": 49.9038,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "180e8749-eaed-4a32-8593-32b96f486cef",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 49.865,
+   "end_s": 65.758,
+   "t_start": 49.9038,
+   "t_end": 65.7968,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "f1dc37c3-affd-49df-a2a9-211f2316b6c9",
+   "segment": "segment1",
+   "action": "P21",
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+   "t_start": 65.7968,
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+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P21/session_013/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P21/session_013/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..04db99c5d37ad9614510567a2c6974fa88f205df
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_013/cameras/gsi_online_calibration.json
@@ -0,0 +1,256 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.375
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.9637,
+   "gate_fail": [],
+   "held_out_px_after": 0.49,
+   "held_out_px_before": 4.08,
+   "inliers": 2285,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.3146,
+    -0.4048,
+    -0.8159
+   ],
+   "split_deg": 0.1077,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.8974,
+   "gate_fail": [],
+   "held_out_px_after": 0.425,
+   "held_out_px_before": 5.466,
+   "inliers": 3325,
+   "position_fitted": true,
+   "position_mm": [
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+    -13.35,
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+   "position_split_mm": 2.661,
+   "rotvec_deg": [
+    0.0493,
+    0.6213,
+    -1.7921
+   ],
+   "split_deg": 0.1358,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+   "gate_fail": [],
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+   "held_out_px_before": 4.229,
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+   "position_fitted": false,
+   "rotvec_deg": [
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+    -0.5493,
+    0.1386
+   ],
+   "split_deg": 0.0733,
+   "usable": true
+  },
+  "right_eye": {
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.709,
+   "gate_fail": [],
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+   "held_out_px_before": 3.302,
+   "inliers": 3243,
+   "position_fitted": true,
+   "position_mm": [
+    7.76,
+    -13.13,
+    6.3
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+   "position_sigma_mm": 0.304,
+   "position_split_mm": 2.281,
+   "rotvec_deg": [
+    0.2331,
+    -0.5318,
+    -0.4069
+   ],
+   "split_deg": 0.0929,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+   "gate_fail": [],
+   "held_out_px_after": 0.337,
+   "held_out_px_before": 4.863,
+   "inliers": 4698,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.4985,
+    -0.0809,
+    -1.3197
+   ],
+   "split_deg": 0.019,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "7696cd05525ce7da349af0cbcfed31124298275f8c76414288300d64f331fa8b",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "4752348c8757c76d2783e0ce52aec4ccdb3a3a3eb5d7a606631347ebe3b954a6",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "2a05e9b2bb9618fb4a99749db63de54fcff64777a9d3f1a9d2671c2ca4bbf6f2",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "f417e2981d0fdbc18285cdf667661460c6440ef620c118bf44ec8351298083fc",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "e445e020bc404f54",
+ "kind": "online_calibration",
+ "output_sha256": "63e7cd18b39733ab018ddba9963874f73b32655380a1842c5a435e8c53342c7d",
+ "overlap": {
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+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
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+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
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+  "left_eye": 36.102,
+  "left_front": 39.09,
+  "right": 35.686,
+  "right_eye": 33.247,
+  "right_front": 37.365
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P21/session_013/cameras/slam.npz b/actions/locomotion_primitives/P21/session_013/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4ba7a3aec6ec83e921a845e3fc6b7cc8537ec610
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_013/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eaad5d8814f261368a13a4c3db8dd3a869a6a8b3712bc0ff0a5b679b840c13e1
+size 486904
diff --git a/actions/locomotion_primitives/P21/session_013/meta.json b/actions/locomotion_primitives/P21/session_013/meta.json
index 8829e9caf448e520ab25d5c5fbace3b0a509e029..242e20d1bc92abaf5c309c0ca2d944a67eb52d91 100644
--- a/actions/locomotion_primitives/P21/session_013/meta.json
+++ b/actions/locomotion_primitives/P21/session_013/meta.json
@@ -326,8 +326,8 @@
   "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": {
@@ -514,10 +514,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.7821376688484473
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 24.57,
+    "offset_rotvec": [
+     0.3582,
+     -0.1528,
+     -0.1797
+    ],
+    "dev_deg": {
+     "median": 15.2,
+     "p90": 44.24
+    },
+    "samples": 983,
+    "accepted": 784,
+    "wrist_pos_err_mm_median": 80.6,
+    "per_camera": {
+     "head": {
+      "samples": 983,
+      "accepted": 784,
+      "gate_deg": 30.0,
+      "offset_deg": 24.57,
+      "tier": "primary",
+      "dev_deg_median": 15.2,
+      "wrist_pos_err_mm_median": 80.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 3300,
+     "interpolated": 5236,
+     "mean_hand": 1548,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.8465,
+    "observed_fraction_of_valid": 0.8465,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 28.04,
+     "smplx": 0.78
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 12.8,
+      "p90": 18.5
+     },
+     "registered": {
+      "median": 12.6,
+      "p90": 17.9
+     }
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+   },
+   "right": {
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+    "offset_rotvec": [
+     0.1904,
+     -0.1541,
+     0.2478
+    ],
+    "dev_deg": {
+     "median": 13.79,
+     "p90": 34.36
+    },
+    "samples": 1216,
+    "accepted": 1056,
+    "wrist_pos_err_mm_median": 69.5,
+    "per_camera": {
+     "head": {
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+      "accepted": 1056,
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+  "cameras_used": [
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+ },
  "release": {
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   "source_session": "20260919/P21/20260919_091738_session155"
+ },
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+  "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
  }
 }
diff --git a/actions/locomotion_primitives/P21/session_013/motions/hands_mano.npz b/actions/locomotion_primitives/P21/session_013/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0f51adba3b68b5128f788686f865e559baaa67f4
--- /dev/null
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@@ -0,0 +1,3 @@
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+size 1586895
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--- a/actions/locomotion_primitives/P21/session_013/motions/smplx.npz
+++ b/actions/locomotion_primitives/P21/session_013/motions/smplx.npz
@@ -1,3 +1,3 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..75e098c2a4977eb665e9b66d739b840914a76077
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_014/annotations.json
@@ -0,0 +1,72 @@
+{
+ "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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+  }
+ ],
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+ ]
+}
diff --git a/actions/locomotion_primitives/P21/session_014/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P21/session_014/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..1818aeab7400a75f4e0a0f251d248d664c8aee04
--- /dev/null
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@@ -0,0 +1,253 @@
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+    "right_front",
+    "left_eye",
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+    5.58
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+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
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+ "input_fingerprint": "00be5a7bddb6b0b6",
+ "kind": "online_calibration",
+ "output_sha256": "8cf065f7a427bfd3204e3fd1d34401247241286d84ed44b7bb59a01476377f21",
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+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
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+  "left_front": 38.257,
+  "right": 35.373,
+  "right_eye": 31.839,
+  "right_front": 34.108
+ },
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+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
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+ "segment": 1,
+ "selection": {
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P21/session_014/cameras/slam.npz b/actions/locomotion_primitives/P21/session_014/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cfd79e0272715eed8b41ba708258831fc9bc4dfc
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_014/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cd94e3c4ac9259e154612836c7a28444d932fe16dc9a93cfd42498b8ac396cc
+size 514851
diff --git a/actions/locomotion_primitives/P21/session_014/meta.json b/actions/locomotion_primitives/P21/session_014/meta.json
index 40d31d6849a3c7539a820eb454769c0ba9b7935c..63cae95096927d6795c50c49276de931ef32d51b 100644
--- a/actions/locomotion_primitives/P21/session_014/meta.json
+++ b/actions/locomotion_primitives/P21/session_014/meta.json
@@ -328,8 +328,8 @@
   "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": {
@@ -510,10 +510,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.4564561940755173
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_deg": 24.15,
+    "offset_rotvec": [
+     0.3491,
+     0.0036,
+     -0.236
+    ],
+    "dev_deg": {
+     "median": 10.91,
+     "p90": 37.67
+    },
+    "samples": 1469,
+    "accepted": 1202,
+    "wrist_pos_err_mm_median": 51.4,
+    "per_camera": {
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+      "accepted": 1202,
+      "gate_deg": 30.0,
+      "offset_deg": 24.15,
+      "tier": "primary",
+      "dev_deg_median": 10.91,
+      "wrist_pos_err_mm_median": 51.4
+     }
+    },
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+     "interpolated": 5430,
+     "mean_hand": 233,
+     "no_body_fit": 8
+    },
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+    "observed_fraction_of_valid": 0.9782,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.81
+    },
+    "hand_marker_to_mesh_mm": {
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+    },
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+    "accepted": 1300,
+    "wrist_pos_err_mm_median": 51.9,
+    "per_camera": {
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+      "accepted": 1300,
+      "gate_deg": 30.0,
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+     },
+     "registered": {
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+     }
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+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:46:44.889821+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_014",
   "family": "locomotion_primitives",
   "primitive": "P21",
   "source_session": "20260921/P21/20260921_072443_session129"
+ },
+ "task": {
+  "primitive": "P21",
+  "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
  }
 }
diff --git a/actions/locomotion_primitives/P21/session_014/motions/hands_mano.npz b/actions/locomotion_primitives/P21/session_014/motions/hands_mano.npz
new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_014/motions/hands_mano.npz
@@ -0,0 +1,3 @@
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+size 2065561
diff --git a/actions/locomotion_primitives/P21/session_014/motions/smplx.npz b/actions/locomotion_primitives/P21/session_014/motions/smplx.npz
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--- a/actions/locomotion_primitives/P21/session_014/motions/smplx.npz
+++ b/actions/locomotion_primitives/P21/session_014/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P21/session_015/annotations.json b/actions/locomotion_primitives/P21/session_015/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b328d12285c8a5da4683b4ad45d0fbfd4e123c3
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_015/annotations.json
@@ -0,0 +1,72 @@
+{
+ "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": [
+  {
+   "id": "segment1",
+   "duration_s": 83.966544,
+   "video": "left_eye",
+   "video_t_start": 0.03905666727156776
+  }
+ ],
+ "episodes": [
+  {
+   "id": "3b3679cc-7add-4609-896e-9b8d5300767c",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 1.334,
+   "end_s": 17.045,
+   "t_start": 1.3731,
+   "t_end": 17.0841,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "a45512ad-228a-428e-ad24-220f64656a5c",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
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+   "end_s": 29.412,
+   "t_start": 17.0841,
+   "t_end": 29.4511,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "79c30470-d060-4d14-87d8-9c694444c641",
+   "segment": "segment1",
+   "action": "P21",
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+   "t_start": 29.4511,
+   "t_end": 47.1581,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "667bf303-69f9-4709-af36-ed757473e167",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 47.119,
+   "end_s": 59.487,
+   "t_start": 47.1581,
+   "t_end": 59.5261,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "6b0f4eca-c2fe-4df4-8134-3ed265c054b3",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 59.487,
+   "end_s": 75.534,
+   "t_start": 59.5261,
+   "t_end": 75.5731,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P21/session_015/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P21/session_015/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa3fe3f1f11ed5fbfec8b1446bd1a7fa451a3ca2
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_015/cameras/gsi_online_calibration.json
@@ -0,0 +1,256 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.392
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.2332,
+   "gate_fail": [],
+   "held_out_px_after": 0.668,
+   "held_out_px_before": 5.623,
+   "inliers": 1407,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2708,
+    -0.5214,
+    -1.0842
+   ],
+   "split_deg": 0.0633,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.3835,
+   "gate_fail": [],
+   "held_out_px_after": 0.443,
+   "held_out_px_before": 5.182,
+   "inliers": 2421,
+   "position_fitted": true,
+   "position_mm": [
+    -1.72,
+    -16.03,
+    8.1
+   ],
+   "position_sigma_mm": 0.462,
+   "position_split_mm": 2.327,
+   "rotvec_deg": [
+    -0.2649,
+    0.8338,
+    -2.2171
+   ],
+   "split_deg": 0.0312,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 1.4527,
+   "gate_fail": [],
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+   "held_out_px_before": 5.425,
+   "inliers": 1254,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.4037,
+    -0.3497,
+    -0.1338
+   ],
+   "split_deg": 0.0719,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.9649,
+   "gate_fail": [],
+   "held_out_px_after": 0.395,
+   "held_out_px_before": 3.696,
+   "inliers": 2333,
+   "position_fitted": true,
+   "position_mm": [
+    7.37,
+    -17.41,
+    7.1
+   ],
+   "position_sigma_mm": 0.437,
+   "position_split_mm": 1.151,
+   "rotvec_deg": [
+    -0.0274,
+    -0.3441,
+    -0.9011
+   ],
+   "split_deg": 0.018,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.016,
+   "gate_fail": [],
+   "held_out_px_after": 0.335,
+   "held_out_px_before": 6.589,
+   "inliers": 3832,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2456,
+    -0.0779,
+    -1.9995
+   ],
+   "split_deg": 0.0121,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "5c4dcd8bfd55ccbc580c3e2d0192865fac8bc1f8647e91ea659da5d8dcf1d252",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "11921da620e76a4efdef76e328678d426c87350a96589afec0a9dc627f0a2283",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "99a60f5fad354eb1ce0e9cfbf6687b55e904172f58512886ba3e8af9a1adc839",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "8bfe5689dda965d3273c17dc202bc419e7ca22a26b2a655287d831886c123756",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "b7b7b5b0a1ae7e23",
+ "kind": "online_calibration",
+ "output_sha256": "5497a3ec2cb7c0ad78e891994cd3fd02017c2bdb1cec2e166c3ee9feb9cfec76",
+ "overlap": {
+  "left-right": 0.501,
+  "left_eye-left": 0.707,
+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 34.449,
+  "left_eye": 26.045,
+  "left_front": 37.561,
+  "right": 32.326,
+  "right_eye": 25.442,
+  "right_front": 36.142
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
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+   30325704371222,
+   30326704349000,
+   30327704349000
+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P21/session_015/cameras/slam.npz b/actions/locomotion_primitives/P21/session_015/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b53103913752f7587824d9d5b68d3b4b88ea2bb6
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_015/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2685c6e720b79966814b7fdbd9d77854ff359d254648ce99933137208e47fac
+size 478353
diff --git a/actions/locomotion_primitives/P21/session_015/meta.json b/actions/locomotion_primitives/P21/session_015/meta.json
index 8d8ead51cb58110cb7c72a65e0d9e460920dc579..b305bf800fa111ad7945a3deb946a07a2a6383ff 100644
--- a/actions/locomotion_primitives/P21/session_015/meta.json
+++ b/actions/locomotion_primitives/P21/session_015/meta.json
@@ -327,8 +327,8 @@
   "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": {
@@ -529,10 +529,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.4262680195744666
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 41.48,
+    "offset_rotvec": [
+     0.5945,
+     -0.2923,
+     -0.292
+    ],
+    "dev_deg": {
+     "median": 14.59,
+     "p90": 28.99
+    },
+    "samples": 1755,
+    "accepted": 1592,
+    "wrist_pos_err_mm_median": 140.7,
+    "per_camera": {
+     "head": {
+      "samples": 1755,
+      "accepted": 1592,
+      "gate_deg": 30.0,
+      "offset_deg": 41.48,
+      "tier": "primary",
+      "dev_deg_median": 14.59,
+      "wrist_pos_err_mm_median": 140.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 6586,
+     "interpolated": 3366,
+     "mean_hand": 132,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9869,
+    "observed_fraction_of_valid": 0.9869,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 44.8,
+     "smplx": 0.42
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.0,
+      "p90": 13.4
+     },
+     "registered": {
+      "median": 8.9,
+      "p90": 12.9
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 19.37,
+    "offset_rotvec": [
+     0.2629,
+     -0.1283,
+     0.1693
+    ],
+    "dev_deg": {
+     "median": 20.21,
+     "p90": 45.02
+    },
+    "samples": 1462,
+    "accepted": 953,
+    "wrist_pos_err_mm_median": 311.6,
+    "per_camera": {
+     "head": {
+      "samples": 1462,
+      "accepted": 953,
+      "gate_deg": 30.0,
+      "offset_deg": 19.37,
+      "tier": "primary",
+      "dev_deg_median": 20.21,
+      "wrist_pos_err_mm_median": 311.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 4006,
+     "interpolated": 4922,
+     "mean_hand": 1156,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.8854,
+    "observed_fraction_of_valid": 0.8854,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 32.86,
+     "smplx": 0.59
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 13.8,
+      "p90": 21.0
+     },
+     "registered": {
+      "median": 13.0,
+      "p90": 19.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:32:38.850359+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_015",
   "family": "locomotion_primitives",
   "primitive": "P21",
   "source_session": "20260925/P21/20260925_081202_session86"
+ },
+ "task": {
+  "primitive": "P21",
+  "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
  }
 }
diff --git a/actions/locomotion_primitives/P21/session_015/motions/hands_mano.npz b/actions/locomotion_primitives/P21/session_015/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7227084d00b38edf4fca9a72e4cb2ac62cd24688
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_015/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03a1a25e2a628ff04cb6e0a1f30357e8a2a61f98659e91979339fef38bc6b572
+size 2237425
diff --git a/actions/locomotion_primitives/P21/session_015/motions/smplx.npz b/actions/locomotion_primitives/P21/session_015/motions/smplx.npz
index 8ecf098bb0fb88fcefd84f1f64f47e2dfa9384ac..8392af0f065192b00cf411fcf0a751befe5010bc 100644
--- a/actions/locomotion_primitives/P21/session_015/motions/smplx.npz
+++ b/actions/locomotion_primitives/P21/session_015/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8ab416a4e8eb3d3a14d5da564215fa16f32cd86bddd12335ad8ddd9f4b731ce8
-size 3887053
+oid sha256:a72fb1085e65b1b1f71b7bbd6c4cf62de1201238d06a91d5c266ddd39352e2cb
+size 7107917
diff --git a/actions/locomotion_primitives/P21/session_016/annotations.json b/actions/locomotion_primitives/P21/session_016/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b01df72a6b599a82368c2dc606fe07d28278f82
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_016/annotations.json
@@ -0,0 +1,72 @@
+{
+ "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": [
+  {
+   "id": "segment1",
+   "duration_s": 83.966589,
+   "video": "left_eye",
+   "video_t_start": 0.038972696498357884
+  }
+ ],
+ "episodes": [
+  {
+   "id": "39a4cfab-b6fd-4faf-8e13-37232339f7cd",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 14.255,
+   "t_start": 0.039,
+   "t_end": 14.294,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "9f5a6c34-fc12-45fb-9529-433958c71c99",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 14.674,
+   "end_s": 26.544,
+   "t_start": 14.713,
+   "t_end": 26.583,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "07e3e72b-3bdf-4274-8351-c0840ee4f04a",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 30.54,
+   "end_s": 43.323,
+   "t_start": 30.579,
+   "t_end": 43.362,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "28cf6683-b012-429e-b356-24b158a25656",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 45.964,
+   "end_s": 59.803,
+   "t_start": 46.003,
+   "t_end": 59.842,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "b40bbc53-6ed4-48b8-8afc-a8f3f30b78d4",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
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+   "t_start": 62.087,
+   "t_end": 77.448,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P21/session_016/cameras/slam.npz b/actions/locomotion_primitives/P21/session_016/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9ab6b64eb9a67fccc479d2bf4bc85144b4b56aaa
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_016/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0dc306d35ca9fabc246208a00c52f31aa0d9de0b4d9f38219f60a356ac99030e
+size 483345
diff --git a/actions/locomotion_primitives/P21/session_016/meta.json b/actions/locomotion_primitives/P21/session_016/meta.json
index 93eff43ecec10fdcac4bb4d397391c0de014509b..fb1e572d23e506e5908b68b699a13247ad234fbc 100644
--- a/actions/locomotion_primitives/P21/session_016/meta.json
+++ b/actions/locomotion_primitives/P21/session_016/meta.json
@@ -324,8 +324,8 @@
   "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": {
@@ -522,10 +522,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.4739145578960087
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 42.67,
+    "offset_rotvec": [
+     0.5793,
+     -0.3849,
+     -0.2661
+    ],
+    "dev_deg": {
+     "median": 15.4,
+     "p90": 29.38
+    },
+    "samples": 1942,
+    "accepted": 1767,
+    "wrist_pos_err_mm_median": 126.3,
+    "per_camera": {
+     "head": {
+      "samples": 1942,
+      "accepted": 1767,
+      "gate_deg": 30.0,
+      "offset_deg": 42.67,
+      "tier": "primary",
+      "dev_deg_median": 15.4,
+      "wrist_pos_err_mm_median": 126.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 7272,
+     "interpolated": 2720,
+     "mean_hand": 84,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9909,
+    "observed_fraction_of_valid": 0.9917,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 43.94,
+     "smplx": 0.33
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.7,
+      "p90": 12.7
+     },
+     "registered": {
+      "median": 9.6,
+      "p90": 12.2
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 18.11,
+    "offset_rotvec": [
+     0.2702,
+     -0.0523,
+     0.1553
+    ],
+    "dev_deg": {
+     "median": 19.11,
+     "p90": 47.81
+    },
+    "samples": 1721,
+    "accepted": 1203,
+    "wrist_pos_err_mm_median": 221.4,
+    "per_camera": {
+     "head": {
+      "samples": 1721,
+      "accepted": 1203,
+      "gate_deg": 30.0,
+      "offset_deg": 18.11,
+      "tier": "primary",
+      "dev_deg_median": 19.11,
+      "wrist_pos_err_mm_median": 221.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 5014,
+     "interpolated": 4020,
+     "mean_hand": 1042,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.8959,
+    "observed_fraction_of_valid": 0.8966,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 29.98,
+     "smplx": 0.29
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 13.5,
+      "p90": 22.8
+     },
+     "registered": {
+      "median": 13.4,
+      "p90": 20.8
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:32:38.252258+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_016",
   "family": "locomotion_primitives",
   "primitive": "P21",
   "source_session": "20260925/P21/20260925_091233_session111"
+ },
+ "task": {
+  "primitive": "P21",
+  "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
  }
 }
diff --git a/actions/locomotion_primitives/P21/session_016/motions/hands_mano.npz b/actions/locomotion_primitives/P21/session_016/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..480bce680681fe4951ebf25e43db5dbfa35296ef
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_016/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1704ac2f1b95b09cbb526436adbdd855cc920adbff3b1c430b5a8cfc28e30f4e
+size 2529229
diff --git a/actions/locomotion_primitives/P21/session_016/motions/smplx.npz b/actions/locomotion_primitives/P21/session_016/motions/smplx.npz
index 1a12b559f21a347070fa1493657cd783c43802fd..b568d96bd1fae5fcdcec1c66812ac5ef35d31113 100644
--- a/actions/locomotion_primitives/P21/session_016/motions/smplx.npz
+++ b/actions/locomotion_primitives/P21/session_016/motions/smplx.npz
@@ -1,3 +1,3 @@
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-oid sha256:2e801678e860247d946da1800f06095ee8171c8c07a5da7ca5a28ddb1908b348
-size 3872034
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+size 7129457
diff --git a/actions/locomotion_primitives/P21/session_017/annotations.json b/actions/locomotion_primitives/P21/session_017/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..25c51e564647e95af31549e076f95389e9dda808
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_017/annotations.json
@@ -0,0 +1,72 @@
+{
+ "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": [
+  {
+   "id": "segment1",
+   "duration_s": 88.966533,
+   "video": "left_eye",
+   "video_t_start": 0.03899138409260483
+  }
+ ],
+ "episodes": [
+  {
+   "id": "4ec4bbee-a7dd-4690-ab91-e9a02e8d4abf",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 16.963,
+   "t_start": 0.039,
+   "t_end": 17.002,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "d1ab0665-fd6c-4040-b080-b6d68e4e8807",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 16.963,
+   "end_s": 34.236,
+   "t_start": 17.002,
+   "t_end": 34.275,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "e078cc7a-5ff2-4bd3-9789-7e140a1a8855",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 34.236,
+   "end_s": 52.86,
+   "t_start": 34.275,
+   "t_end": 52.899,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "85d13934-b98a-40d0-9337-b42a8cfb8b3a",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 52.86,
+   "end_s": 68.27,
+   "t_start": 52.899,
+   "t_end": 68.309,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "397beed2-f368-4071-ad97-08dcf7216278",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 68.27,
+   "end_s": 83.118,
+   "t_start": 68.309,
+   "t_end": 83.157,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P21/session_017/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P21/session_017/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f7914b625f360e563c32be6ca63175773ae5e3a
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_017/cameras/gsi_online_calibration.json
@@ -0,0 +1,253 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.405
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.9628,
+   "gate_fail": [],
+   "held_out_px_after": 0.711,
+   "held_out_px_before": 5.76,
+   "inliers": 1721,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.381,
+    -0.4513,
+    -0.7603
+   ],
+   "split_deg": 0.1025,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.396,
+   "gate_fail": [],
+   "held_out_px_after": 0.434,
+   "held_out_px_before": 5.966,
+   "inliers": 2519,
+   "position_fitted": true,
+   "position_mm": [
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+    -11.08,
+    6.09
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+   "position_sigma_mm": 0.294,
+   "position_split_mm": 2.318,
+   "rotvec_deg": [
+    -0.1217,
+    0.8234,
+    -2.2468
+   ],
+   "split_deg": 0.096,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.4221,
+   "gate_fail": [],
+   "held_out_px_after": 0.543,
+   "held_out_px_before": 4.998,
+   "inliers": 1734,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.2636,
+    -0.3963,
+    -0.5183
+   ],
+   "split_deg": 0.1484,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.9767,
+   "gate_fail": [],
+   "held_out_px_after": 0.384,
+   "held_out_px_before": 3.088,
+   "inliers": 2541,
+   "position_fitted": true,
+   "position_mm": [
+    8.8,
+    -13.47,
+    6.13
+   ],
+   "position_sigma_mm": 0.272,
+   "position_split_mm": 1.706,
+   "rotvec_deg": [
+    0.1789,
+    -0.3439,
+    -0.8965
+   ],
+   "split_deg": 0.0896,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.0324,
+   "gate_fail": [],
+   "held_out_px_after": 0.364,
+   "held_out_px_before": 6.126,
+   "inliers": 3937,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2492,
+    -0.0737,
+    -2.0157
+   ],
+   "split_deg": 0.0104,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "3de837e3769b2e9f516a54a78581206ef2b1a51a485d8810222b04fe0034794c",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "ae14c9d03f839f962c41fc130bf5e7bb0bbd3f1577fa05c1894d42b4f70bda16",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "454fdb9027e2b5c5010eb9237715e5e9219100844a49e329858a6776ecc20533",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "4bf33af221e830c2a8b4a2d247e0d7b283678fdbfc96ba76d5f3affd25b3597a",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "e374679c1d34a938",
+ "kind": "online_calibration",
+ "output_sha256": "0e00d16dd88963ab500c6663a411e3b74da26f2ed41d71aa2788ef1cd5a0bb4a",
+ "overlap": {
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+  "left_eye-left": 0.707,
+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
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+  "left_eye": 27.543,
+  "left_front": 31.539,
+  "right": 38.895,
+  "right_eye": 27.911,
+  "right_front": 33.577
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P21/session_017/cameras/slam.npz b/actions/locomotion_primitives/P21/session_017/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a2d93bb86d719db51f40c14499a9f0ee32240279
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_017/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ffa4ec350f560bcf1857d84874ba56ad77f541ae56acffb0d4dba7381a115b9
+size 514737
diff --git a/actions/locomotion_primitives/P21/session_017/meta.json b/actions/locomotion_primitives/P21/session_017/meta.json
index 10029d13c79a8b1375b00800e6bdc2cf3a43dc32..961da8bcc30654a506644511181eb33f2042ace4 100644
--- a/actions/locomotion_primitives/P21/session_017/meta.json
+++ b/actions/locomotion_primitives/P21/session_017/meta.json
@@ -328,8 +328,8 @@
   "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": {
@@ -517,10 +517,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.7496492152655558
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 34.5,
+    "offset_rotvec": [
+     0.4552,
+     -0.3829,
+     -0.0937
+    ],
+    "dev_deg": {
+     "median": 15.58,
+     "p90": 31.94
+    },
+    "samples": 2170,
+    "accepted": 1913,
+    "wrist_pos_err_mm_median": 42.0,
+    "per_camera": {
+     "head": {
+      "samples": 2170,
+      "accepted": 1913,
+      "gate_deg": 30.0,
+      "offset_deg": 34.5,
+      "tier": "primary",
+      "dev_deg_median": 15.58,
+      "wrist_pos_err_mm_median": 42.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 7836,
+     "interpolated": 2404,
+     "mean_hand": 436,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9584,
+    "observed_fraction_of_valid": 0.9592,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 35.84,
+     "smplx": 0.76
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 4.3,
+      "p90": 5.5
+     },
+     "registered": {
+      "median": 4.7,
+      "p90": 7.1
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 24.39,
+    "offset_rotvec": [
+     0.4009,
+     0.0542,
+     0.1328
+    ],
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+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  "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",
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+ },
  "release": {
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   "family": "locomotion_primitives",
   "primitive": "P21",
   "source_session": "20260929/P21/20260929_041243_session77"
+ },
+ "task": {
+  "primitive": "P21",
+  "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
  }
 }
diff --git a/actions/locomotion_primitives/P21/session_017/motions/hands_mano.npz b/actions/locomotion_primitives/P21/session_017/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b7792c43fb22afd4f0704ee74dbd2605616da0ce
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_017/motions/hands_mano.npz
@@ -0,0 +1,3 @@
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+size 2557111
diff --git a/actions/locomotion_primitives/P21/session_017/motions/smplx.npz b/actions/locomotion_primitives/P21/session_017/motions/smplx.npz
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--- a/actions/locomotion_primitives/P21/session_017/motions/smplx.npz
+++ b/actions/locomotion_primitives/P21/session_017/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P21/session_018/annotations.json b/actions/locomotion_primitives/P21/session_018/annotations.json
new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_018/annotations.json
@@ -0,0 +1,72 @@
+{
+ "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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+   "video": "left_eye",
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+  }
+ ],
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+ ]
+}
diff --git a/actions/locomotion_primitives/P21/session_018/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P21/session_018/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..75a616499011e28aad4fd713d92166f1a5411684
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_018/cameras/gsi_online_calibration.json
@@ -0,0 +1,252 @@
+{
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+  "median_px": 0.4
+ },
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+    "right_front",
+    "left_eye",
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+    "left_front",
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+    "left_eye",
+    "left",
+    "right"
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+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
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+  }
+ },
+ "input_fingerprint": "7ab38b2cba4a1ad8",
+ "kind": "online_calibration",
+ "output_sha256": "f71aa953f05b3dd7a1421d8129ac1884874f02e3c019f7885ff585b9d7118a5c",
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+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
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+  "left_front": 37.374,
+  "right": 49.824,
+  "right_eye": 42.621,
+  "right_front": 38.948
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+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
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+ "selection": {
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+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P21/session_018/cameras/slam.npz b/actions/locomotion_primitives/P21/session_018/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6b319f57a88a1ef24986b00a23721c66f157e34f
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_018/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fe7d9f053f5d3095cfa84200321c5896c6e312c007122c328fae151afe3d9a2
+size 515391
diff --git a/actions/locomotion_primitives/P21/session_018/meta.json b/actions/locomotion_primitives/P21/session_018/meta.json
index 783425e6fdb223a21946c5f13cdebeeed28c10d3..9c734fd89797769713568275cbc0236ec0e1bbcd 100644
--- a/actions/locomotion_primitives/P21/session_018/meta.json
+++ b/actions/locomotion_primitives/P21/session_018/meta.json
@@ -316,8 +316,8 @@
   "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": {
@@ -501,10 +501,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.5870805217721133
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     0.4522,
+     -0.2678,
+     -0.0939
+    ],
+    "dev_deg": {
+     "median": 14.43,
+     "p90": 29.29
+    },
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+    "accepted": 2199,
+    "wrist_pos_err_mm_median": 37.1,
+    "per_camera": {
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+      "accepted": 2199,
+      "gate_deg": 30.0,
+      "offset_deg": 30.59,
+      "tier": "primary",
+      "dev_deg_median": 14.43,
+      "wrist_pos_err_mm_median": 37.1
+     }
+    },
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+     "interpolated": 1706,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
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+    "observed_fraction_of_valid": 0.9989,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 33.57,
+     "smplx": 0.48
+    },
+    "hand_marker_to_mesh_mm": {
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+      "median": 5.2,
+      "p90": 5.9
+     },
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+     "p90": 25.52
+    },
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+    "accepted": 1579,
+    "wrist_pos_err_mm_median": 50.1,
+    "per_camera": {
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+      "accepted": 1579,
+      "gate_deg": 30.0,
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+      "tier": "primary",
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+    "observed_fraction_of_valid": 0.91,
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+     "smplx": 0.54
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+    "hand_marker_to_mesh_mm": {
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+     },
+     "registered": {
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+      "p90": 15.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:25:48.117941+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_018",
   "family": "locomotion_primitives",
   "primitive": "P21",
   "source_session": "20260929/P21/20260929_041439_session78"
+ },
+ "task": {
+  "primitive": "P21",
+  "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
  }
 }
diff --git a/actions/locomotion_primitives/P21/session_018/motions/hands_mano.npz b/actions/locomotion_primitives/P21/session_018/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b934185a2c403cbde699fa165382e45f8d7a2f08
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_018/motions/hands_mano.npz
@@ -0,0 +1,3 @@
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+size 2826676
diff --git a/actions/locomotion_primitives/P21/session_018/motions/smplx.npz b/actions/locomotion_primitives/P21/session_018/motions/smplx.npz
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--- a/actions/locomotion_primitives/P21/session_018/motions/smplx.npz
+++ b/actions/locomotion_primitives/P21/session_018/motions/smplx.npz
@@ -1,3 +1,3 @@
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@@ -512,10 +512,124 @@
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   "source_session": "20260930/P21/20260930_041333_session20"
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+  "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
  }
 }
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diff --git a/actions/locomotion_primitives/P21/session_020/cameras/slam.npz b/actions/locomotion_primitives/P21/session_020/cameras/slam.npz
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  }
 }
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P21/session_021/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P21/session_021/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..59ce185d4b77d400662c9ecdbb53861a931a638f
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_021/cameras/gsi_online_calibration.json
@@ -0,0 +1,255 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.374
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.2899,
+   "gate_fail": [],
+   "held_out_px_after": 0.509,
+   "held_out_px_before": 5.574,
+   "inliers": 2341,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.169,
+    -0.5202,
+    -1.1682
+   ],
+   "split_deg": 0.0846,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.4434,
+   "gate_fail": [],
+   "held_out_px_after": 0.429,
+   "held_out_px_before": 6.577,
+   "inliers": 3482,
+   "position_fitted": true,
+   "position_mm": [
+    2.62,
+    -11.73,
+    6.72
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+   "position_split_mm": 5.24,
+   "rotvec_deg": [
+    -0.1097,
+    0.8184,
+    -2.2996
+   ],
+   "split_deg": 0.0432,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
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+   "gate_fail": [],
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+   "held_out_px_before": 5.458,
+   "inliers": 1256,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.4339,
+    -0.4713,
+    -0.3669
+   ],
+   "split_deg": 0.1173,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
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+   "held_out_px_before": 3.391,
+   "inliers": 3873,
+   "position_fitted": true,
+   "position_mm": [
+    9.26,
+    -12.06,
+    5.99
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+   "position_split_mm": 5.883,
+   "rotvec_deg": [
+    0.2563,
+    -0.2887,
+    -0.9971
+   ],
+   "split_deg": 0.0378,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+   "gate_fail": [],
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+   "held_out_px_before": 6.6,
+   "inliers": 4285,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.22,
+    0.013,
+    -2.0285
+   ],
+   "split_deg": 0.0295,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "1a605cfd5185d35c3cf10901d484fe58b4d70ff6d63946e0278c70cc34f7e3ed",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "232adab90ebb76aa0ff31914f26de03a3c9c227453b17ddbd40203110d698bed",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "d225aa7dce70b0fb0414988a4bc81e0242fc82301c7c52ecd3488c7bffd6c092",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "ef885504cab96387a20ffd5074b6ab13090b8865d1e7f68d6a5f78e29ab889c2",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "d8c69cab1ac923d1",
+ "kind": "online_calibration",
+ "output_sha256": "40dac478a274058a6118f10329f3b7f483c0e551a349e825016445c6bd7d3eb8",
+ "overlap": {
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+  "left_eye-left": 0.707,
+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 33.477,
+  "left_eye": 24.793,
+  "left_front": 37.691,
+  "right": 33.412,
+  "right_eye": 23.379,
+  "right_front": 34.424
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   21557366164000,
+   21558366141777,
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+   21566366175111,
+   21567366164000,
+   21574366186222,
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+   21681366141777,
+   21682366175111,
+   21683366197333
+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P21/session_021/cameras/slam.npz b/actions/locomotion_primitives/P21/session_021/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..43a40c55fee54ca589c590f10ea997a3d137aa59
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_021/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f09fa35f0754290cae2e2d469acc023bd0a70e132ba1b71d2303715db7e99032
+size 768502
diff --git a/actions/locomotion_primitives/P21/session_021/meta.json b/actions/locomotion_primitives/P21/session_021/meta.json
index 0ad445d578bd436e0228eb75b08032dce4584b68..b61f40d15a8ec49c194002d91b6ee39287ae5f49 100644
--- a/actions/locomotion_primitives/P21/session_021/meta.json
+++ b/actions/locomotion_primitives/P21/session_021/meta.json
@@ -326,8 +326,8 @@
   "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": {
@@ -513,10 +513,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.3022305334997961
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     0.6049,
+     -0.2857,
+     0.0848
+    ],
+    "dev_deg": {
+     "median": 9.45,
+     "p90": 23.97
+    },
+    "samples": 3163,
+    "accepted": 2972,
+    "wrist_pos_err_mm_median": 58.9,
+    "per_camera": {
+     "head": {
+      "samples": 3163,
+      "accepted": 2972,
+      "gate_deg": 30.0,
+      "offset_deg": 38.64,
+      "tier": "primary",
+      "dev_deg_median": 9.45,
+      "wrist_pos_err_mm_median": 58.9
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 3498,
+     "mean_hand": 393,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9751,
+    "observed_fraction_of_valid": 0.9756,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 36.4,
+     "smplx": 0.36
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 6.0
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+     }
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+    "accepted": 2874,
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+    "per_camera": {
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+      "accepted": 2874,
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+      "tier": "primary",
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+     "no_body_fit": 8
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+    "observed_fraction_of_valid": 0.9945,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.86
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 7.7
+     },
+     "registered": {
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+      "p90": 6.8
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:22:07.898641+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_021",
   "family": "locomotion_primitives",
   "primitive": "P21",
   "source_session": "20260930/P21/20260930_091258_session112"
+ },
+ "task": {
+  "primitive": "P21",
+  "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
  }
 }
diff --git a/actions/locomotion_primitives/P21/session_021/motions/hands_mano.npz b/actions/locomotion_primitives/P21/session_021/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..79f26911d97fc490d08fda79d8055ac0e5eb824a
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_021/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:daeb412a6f7db8025e2bc9ecabb51aa14d7bf06ed20130513541d2714c805365
+size 4229159
diff --git a/actions/locomotion_primitives/P21/session_021/motions/smplx.npz b/actions/locomotion_primitives/P21/session_021/motions/smplx.npz
index e60c6eddc66196bc4c98c1292ede67f9c3f8e2fd..66d9fe93bc33834829f9f60b0d0c3c907b9af763 100644
--- a/actions/locomotion_primitives/P21/session_021/motions/smplx.npz
+++ b/actions/locomotion_primitives/P21/session_021/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:187f8c7cf456819f3b7418b01cbb6912449e21bae39e1555829534269a6cf453
-size 6167302
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diff --git a/actions/locomotion_primitives/P21/session_022/annotations.json b/actions/locomotion_primitives/P21/session_022/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..e50fe46d1c73a90cd2d9568ce7b4c28cbe6ccf19
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_022/annotations.json
@@ -0,0 +1,72 @@
+{
+ "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": [
+  {
+   "id": "segment1",
+   "duration_s": 93.966656,
+   "video": "left_eye",
+   "video_t_start": 0.038528520624214524
+  }
+ ],
+ "episodes": [
+  {
+   "id": "14e1909c-d505-42b7-8f99-e1b556dca61f",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 1,
+   "end_s": 16,
+   "t_start": 1.0385,
+   "t_end": 16.0385,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "54df77fd-5030-42f4-8318-9ebf9858657e",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
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+   "end_s": 33,
+   "t_start": 16.0385,
+   "t_end": 33.0385,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "71b886d8-049b-4f67-9580-0c548a074298",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 33,
+   "end_s": 51,
+   "t_start": 33.0385,
+   "t_end": 51.0385,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "4a98dc53-f8b4-4fd3-8c1b-adf1f065832f",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
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+   "t_start": 51.0385,
+   "t_end": 68.0385,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P21",
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+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P21/session_022/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P21/session_022/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..2742e79aa2d1342f11b41411a9004bf91d48b5c0
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_022/cameras/gsi_online_calibration.json
@@ -0,0 +1,254 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.397
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+   "gate_fail": [],
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+   "held_out_px_before": 6.019,
+   "inliers": 1955,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2374,
+    -0.4456,
+    -1.135
+   ],
+   "split_deg": 0.0705,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+   "gate_fail": [],
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+   "held_out_px_before": 5.93,
+   "inliers": 2914,
+   "position_fitted": true,
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+    -11.66,
+    6.27
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+   "position_split_mm": 1.936,
+   "rotvec_deg": [
+    -0.1961,
+    0.8346,
+    -2.2987
+   ],
+   "split_deg": 0.0935,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+   "gate_fail": [],
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+   "held_out_px_before": 5.5,
+   "inliers": 1877,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.5179,
+    -0.3527,
+    -0.3686
+   ],
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+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
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+   "gate_fail": [],
+   "held_out_px_after": 0.378,
+   "held_out_px_before": 3.641,
+   "inliers": 3116,
+   "position_fitted": true,
+   "position_mm": [
+    8.23,
+    -13.91,
+    6.5
+   ],
+   "position_sigma_mm": 0.342,
+   "position_split_mm": 1.617,
+   "rotvec_deg": [
+    0.2463,
+    -0.3128,
+    -0.9759
+   ],
+   "split_deg": 0.0819,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+   "gate_fail": [],
+   "held_out_px_after": 0.358,
+   "held_out_px_before": 6.337,
+   "inliers": 4321,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.1867,
+    0.0318,
+    -2.0463
+   ],
+   "split_deg": 0.0172,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "23c3dcee1cf3955af787db9e18a6bb125bc27a9d65ae6cc9ff99d8780b6b528c",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "6af62ec87083ebc17ca7c42e7b89457d807c0fdd23bc3350824aa0ac3f8a2ef8",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "b29c6a902de606b2bf0e0c856eda6f7bf21cb0ba663b9c476fd95a54390d0ae9",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "ca5ddee46ef32cc38534e041428a80509e6633ea0cb061f15661ebae7260eb6e",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "d42cd4617f305f00",
+ "kind": "online_calibration",
+ "output_sha256": "87b3486abbdeae2e6aafa6d9deb762d3ed90a5f11948c5e37851467bbefff126",
+ "overlap": {
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+  "left_eye-left": 0.707,
+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 38.253,
+  "left_eye": 30.624,
+  "left_front": 37.876,
+  "right": 35.636,
+  "right_eye": 28.351,
+  "right_front": 37.388
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
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+   9182021434666,
+   9186021434666,
+   9187021623555,
+   9188021479111,
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+   9242021434666,
+   9243021612444,
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+   9269021468000,
+   9270021468000,
+   9271021468000
+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P21/session_022/cameras/slam.npz b/actions/locomotion_primitives/P21/session_022/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fde40e2c693b71a2b03ee06e3bcbaf106f515d9d
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_022/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d988ac38e3c9ac792f432dc78954bc9c4e34b62d2de7355ba8cfaa21c936bad
+size 543272
diff --git a/actions/locomotion_primitives/P21/session_022/meta.json b/actions/locomotion_primitives/P21/session_022/meta.json
index dbb8be0c4946c853e7e21460a08c558dd0c1564e..650fdd34ed5610db16b9a1f0bf274a4534040027 100644
--- a/actions/locomotion_primitives/P21/session_022/meta.json
+++ b/actions/locomotion_primitives/P21/session_022/meta.json
@@ -328,8 +328,8 @@
   "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": {
@@ -529,10 +529,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.3347873803897035
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     0.3384,
+     -0.4655,
+     -0.1314
+    ],
+    "dev_deg": {
+     "median": 10.63,
+     "p90": 22.84
+    },
+    "samples": 2119,
+    "accepted": 2043,
+    "wrist_pos_err_mm_median": 37.4,
+    "per_camera": {
+     "head": {
+      "samples": 2119,
+      "accepted": 2043,
+      "gate_deg": 30.0,
+      "offset_deg": 33.82,
+      "tier": "primary",
+      "dev_deg_median": 10.63,
+      "wrist_pos_err_mm_median": 37.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 8384,
+     "interpolated": 2888,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9989,
+    "observed_fraction_of_valid": 0.9989,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 35.42,
+     "smplx": 0.43
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.1,
+      "p90": 6.7
+     },
+     "registered": {
+      "median": 6.3,
+      "p90": 8.3
+     }
+    }
+   },
+   "right": {
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+    "offset_rotvec": [
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+     -0.0657,
+     0.136
+    ],
+    "dev_deg": {
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+     "p90": 28.79
+    },
+    "samples": 1517,
+    "accepted": 1386,
+    "wrist_pos_err_mm_median": 56.7,
+    "per_camera": {
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+      "accepted": 1386,
+      "gate_deg": 30.0,
+      "offset_deg": 14.64,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 56.7
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 5462,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9989,
+    "observed_fraction_of_valid": 0.9989,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 18.09,
+     "smplx": 0.49
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.7,
+      "p90": 9.2
+     },
+     "registered": {
+      "median": 7.6,
+      "p90": 8.2
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:10:55.378488+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_022",
   "family": "locomotion_primitives",
   "primitive": "P21",
   "source_session": "20261012/P21/20261012_024830_session40"
+ },
+ "task": {
+  "primitive": "P21",
+  "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
  }
 }
diff --git a/actions/locomotion_primitives/P21/session_022/motions/hands_mano.npz b/actions/locomotion_primitives/P21/session_022/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ea97a98efbbea04fe418ad06c8c71d41dbcb88fc
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_022/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24e731d3325205f096b3fc291b321e8ed662d6135fc334cbd4d53bafbf798a00
+size 2534737
diff --git a/actions/locomotion_primitives/P21/session_022/motions/smplx.npz b/actions/locomotion_primitives/P21/session_022/motions/smplx.npz
index d076c6e793effd5e0992815829b8d1c61ffa314a..38db70821148d7bd2e2fc5a493b2a571558b8041 100644
--- a/actions/locomotion_primitives/P21/session_022/motions/smplx.npz
+++ b/actions/locomotion_primitives/P21/session_022/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 4357433
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+size 8144630
diff --git a/actions/locomotion_primitives/P21/session_023/annotations.json b/actions/locomotion_primitives/P21/session_023/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..f922af46a8970cb50d01be031609519a2b87d32d
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_023/annotations.json
@@ -0,0 +1,72 @@
+{
+ "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": [
+  {
+   "id": "segment1",
+   "duration_s": 88.966644,
+   "video": "left_eye",
+   "video_t_start": 0.039436152941394464
+  }
+ ],
+ "episodes": [
+  {
+   "id": "142f6615-dce3-4dbb-8fc4-11095bc30afb",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 0.87,
+   "end_s": 19.648,
+   "t_start": 0.9094,
+   "t_end": 19.6874,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "d8a582f1-4bcd-450b-9fac-6e1930332496",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 19.648,
+   "end_s": 34.986,
+   "t_start": 19.6874,
+   "t_end": 35.0254,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "0da63a9e-d4d3-4368-90a8-8b1ac6fe1e21",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 34.986,
+   "end_s": 49.986,
+   "t_start": 35.0254,
+   "t_end": 50.0254,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "4bfabfed-259d-4eff-b1f5-1c56485d559d",
+   "segment": "segment1",
+   "action": "P21",
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+   "start_s": 49.986,
+   "end_s": 64.506,
+   "t_start": 50.0254,
+   "t_end": 64.5454,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P21",
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+   "start_s": 64.506,
+   "end_s": 85.48,
+   "t_start": 64.5454,
+   "t_end": 85.5194,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P21/session_023/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P21/session_023/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7da729c5369e9f66245ed90ca640436dc3d5a58
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_023/cameras/gsi_online_calibration.json
@@ -0,0 +1,255 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.363
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.2573,
+   "gate_fail": [],
+   "held_out_px_after": 0.565,
+   "held_out_px_before": 6.787,
+   "inliers": 2256,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.0487,
+    -0.3545,
+    -1.2053
+   ],
+   "split_deg": 0.0365,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.486,
+   "gate_fail": [],
+   "held_out_px_after": 0.379,
+   "held_out_px_before": 5.475,
+   "inliers": 5840,
+   "position_fitted": true,
+   "position_mm": [
+    2.77,
+    -10.98,
+    10.26
+   ],
+   "position_sigma_mm": 0.342,
+   "position_split_mm": 2.652,
+   "rotvec_deg": [
+    -0.2283,
+    0.8642,
+    -2.3197
+   ],
+   "split_deg": 0.0391,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 1.5872,
+   "gate_fail": [],
+   "held_out_px_after": 0.495,
+   "held_out_px_before": 5.439,
+   "inliers": 2910,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.5731,
+    -0.1579,
+    -0.1401
+   ],
+   "split_deg": 0.0328,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0418,
+   "gate_fail": [],
+   "held_out_px_after": 0.345,
+   "held_out_px_before": 3.322,
+   "inliers": 5908,
+   "position_fitted": true,
+   "position_mm": [
+    9.96,
+    -15.77,
+    8.09
+   ],
+   "position_sigma_mm": 0.305,
+   "position_split_mm": 1.88,
+   "rotvec_deg": [
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+    -0.3173,
+    -0.9867
+   ],
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+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+   "gate_fail": [],
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+   "held_out_px_before": 5.237,
+   "inliers": 6777,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3062,
+    -0.0496,
+    -2.1332
+   ],
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+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
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+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
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+  },
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+  }
+ },
+ "input_fingerprint": "3b290988e1d27e55",
+ "kind": "online_calibration",
+ "output_sha256": "3ae4b8c5518d6757a3e53e3ec9f38cb33acae071c17834b5f3ea0644ba13f470",
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+  "left_front-right": 0.448,
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+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
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+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
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+  "left_eye": 40.717,
+  "left_front": 43.034,
+  "right": 37.625,
+  "right_eye": 39.237,
+  "right_front": 42.826
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
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+   30910216851888,
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+   30915216740777,
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+   30993216751888,
+   30994216740777
+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P21/session_023/cameras/slam.npz b/actions/locomotion_primitives/P21/session_023/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e47a6466d55d353d60843a4ca2973f1aff385fb8
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_023/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5259de3b0977e12d4598e30d62b5f98d9a1f2f0a32643def09c3d2ec1fb4d0c4
+size 515648
diff --git a/actions/locomotion_primitives/P21/session_023/meta.json b/actions/locomotion_primitives/P21/session_023/meta.json
index 6f915f924d174507c940ac800de2a4b0e2f4de05..5f7bce918921076d610b55197c19e4ad95830878 100644
--- a/actions/locomotion_primitives/P21/session_023/meta.json
+++ b/actions/locomotion_primitives/P21/session_023/meta.json
@@ -364,8 +364,8 @@
   "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": {
@@ -511,10 +511,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
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+     -0.2888,
+     0.2999
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+     "median": 9.74,
+     "p90": 19.47
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+    "samples": 1547,
+    "accepted": 1511,
+    "wrist_pos_err_mm_median": 50.4,
+    "per_camera": {
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+      "samples": 1547,
+      "accepted": 1511,
+      "gate_deg": 30.0,
+      "offset_deg": 24.06,
+      "tier": "primary",
+      "dev_deg_median": 9.74,
+      "wrist_pos_err_mm_median": 50.4
+     }
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+    "frames_by_state": {
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+     "interpolated": 4330,
+     "mean_hand": 13,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.998,
+    "observed_fraction_of_valid": 0.9988,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 18.61,
+     "smplx": 0.66
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
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+      "p90": 11.1
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+     0.1664,
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+     "p90": 30.51
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+    "accepted": 1213,
+    "wrist_pos_err_mm_median": 100.8,
+    "per_camera": {
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+      "accepted": 1213,
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+      "tier": "primary",
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+     "no_body_fit": 8
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+    "observed_fraction_of_valid": 0.998,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.56
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 9.6
+     },
+     "registered": {
+      "median": 7.2,
+      "p90": 9.1
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:07:42.610249+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_023",
   "family": "locomotion_primitives",
   "primitive": "P21",
   "source_session": "20261013/P21/20261013_085750_session150"
+ },
+ "task": {
+  "primitive": "P21",
+  "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
  }
 }
diff --git a/actions/locomotion_primitives/P21/session_023/motions/hands_mano.npz b/actions/locomotion_primitives/P21/session_023/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..914f6619ad4d676e013b6ca6eaf3424c126bbd7c
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_023/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f03613492b306684d7e491ac134881baabbce4d00bef5110e3a468d0297d3be
+size 2059423
diff --git a/actions/locomotion_primitives/P21/session_023/motions/smplx.npz b/actions/locomotion_primitives/P21/session_023/motions/smplx.npz
index de6fec9d2124493b7f14eb7909202b96507c4570..e4d76b74bc9b18ba1ad8218b9ef2b5802f840807 100644
--- a/actions/locomotion_primitives/P21/session_023/motions/smplx.npz
+++ b/actions/locomotion_primitives/P21/session_023/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 4133433
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diff --git a/actions/locomotion_primitives/P21/session_024/annotations.json b/actions/locomotion_primitives/P21/session_024/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..d74610720ef616529d0d88d257e5e88c7e06ff10
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_024/annotations.json
@@ -0,0 +1,72 @@
+{
+ "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": [
+  {
+   "id": "segment1",
+   "duration_s": 83.966789,
+   "video": "left_eye",
+   "video_t_start": 0.03886733415017951
+  }
+ ],
+ "episodes": [
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+   "action": "P21",
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+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P21",
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+   "t_start": 31.5009,
+   "t_end": 48.5879,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
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+   "segment": "segment1",
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+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
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+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P21/session_024/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P21/session_024/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..91cbcc8901344365b940b38568db235c2be7c58d
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_024/cameras/gsi_online_calibration.json
@@ -0,0 +1,254 @@
+{
+ "camera_fit": {
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+  "median_px": 0.374
+ },
+ "cameras": {
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+   "against": [
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+    "right_front",
+    "left_eye",
+    "right_eye"
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+    -0.3341,
+    -1.2226
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+   "split_deg": 0.0984,
+   "usable": true
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+    9.34
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+   "position_split_mm": 2.516,
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+    0.8698,
+    -2.3152
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+    "right_front",
+    "left_eye",
+    "right_eye"
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+    "left_eye",
+    "left",
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+   "position_mm": [
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+    -16.26,
+    7.77
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+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
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+ },
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diff --git a/actions/locomotion_primitives/P21/session_024/cameras/slam.npz b/actions/locomotion_primitives/P21/session_024/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d5003b047d3e95d41d8d0ffbfa316d874fa20548
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_024/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 486406
diff --git a/actions/locomotion_primitives/P21/session_024/meta.json b/actions/locomotion_primitives/P21/session_024/meta.json
index 3ac11d22dda1789dcb0cc6cc24e3cc9200ddd342..43bc4e312b750e279f56b9ad00ddb07da0f0f0c9 100644
--- a/actions/locomotion_primitives/P21/session_024/meta.json
+++ b/actions/locomotion_primitives/P21/session_024/meta.json
@@ -354,8 +354,8 @@
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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": {
@@ -500,10 +500,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
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  "release": {
   "release_path": "actions/locomotion_primitives/P21/session_024",
   "family": "locomotion_primitives",
   "primitive": "P21",
   "source_session": "20261013/P21/20261013_085930_session151"
+ },
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  }
 }
diff --git a/actions/locomotion_primitives/P21/session_024/motions/hands_mano.npz b/actions/locomotion_primitives/P21/session_024/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9216c03b6d5bb094ccd0537723f5a1194544e312
--- /dev/null
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new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_025/annotations.json
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+}
diff --git a/actions/locomotion_primitives/P21/session_025/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P21/session_025/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..7499b0829d8b18b5175d83f958b582393964369b
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_025/cameras/gsi_online_calibration.json
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diff --git a/actions/locomotion_primitives/P21/session_025/meta.json b/actions/locomotion_primitives/P21/session_025/meta.json
index 7c18c10aa7bdca9b2880102ce581f03b28cc5437..43c6d4b15e54c95013322430ebf5ae4e3de23300 100644
--- a/actions/locomotion_primitives/P21/session_025/meta.json
+++ b/actions/locomotion_primitives/P21/session_025/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": {
@@ -521,10 +521,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 32.83,
+    "offset_rotvec": [
+     0.3503,
+     -0.4157,
+     -0.1812
+    ],
+    "dev_deg": {
+     "median": 15.98,
+     "p90": 29.93
+    },
+    "samples": 3932,
+    "accepted": 3541,
+    "wrist_pos_err_mm_median": 42.5,
+    "per_camera": {
+     "head": {
+      "samples": 3932,
+      "accepted": 3541,
+      "gate_deg": 30.0,
+      "offset_deg": 32.83,
+      "tier": "primary",
+      "dev_deg_median": 15.98,
+      "wrist_pos_err_mm_median": 42.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14513,
+     "interpolated": 4126,
+     "mean_hand": 817,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9576,
+    "observed_fraction_of_valid": 0.958,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 36.13,
+     "smplx": 0.69
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.6,
+      "p90": 6.6
+     },
+     "registered": {
+      "median": 4.5,
+      "p90": 6.0
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 24.72,
+    "offset_rotvec": [
+     0.3234,
+     0.246,
+     0.1449
+    ],
+    "dev_deg": {
+     "median": 9.19,
+     "p90": 25.31
+    },
+    "samples": 3881,
+    "accepted": 3597,
+    "wrist_pos_err_mm_median": 50.1,
+    "per_camera": {
+     "head": {
+      "samples": 3881,
+      "accepted": 3597,
+      "gate_deg": 30.0,
+      "offset_deg": 24.72,
+      "tier": "primary",
+      "dev_deg_median": 9.19,
+      "wrist_pos_err_mm_median": 50.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14650,
+     "interpolated": 4202,
+     "mean_hand": 604,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9686,
+    "observed_fraction_of_valid": 0.969,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 23.41,
+     "smplx": 0.41
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 11.2,
+      "p90": 19.1
+     },
+     "registered": {
+      "median": 10.9,
+      "p90": 18.6
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:39:28.198871+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_025",
   "family": "locomotion_primitives",
   "primitive": "P21",
   "source_session": "20261017/P21/20261017_020546_session16"
+ },
+ "task": {
+  "primitive": "P21",
+  "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
  }
 }
diff --git a/actions/locomotion_primitives/P21/session_025/motions/hands_mano.npz b/actions/locomotion_primitives/P21/session_025/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..712a551a613d54bbeafbe6c7f91d65b84dc7a8a5
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_025/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dd09f8561551c1614e8b0dd7e97b05c45d72bb9751d04d997f872ad966ba568
+size 5334389