diff --git a/.gitattributes b/.gitattributes
index 1904c38e8faaa9a8f4ad24c8499ba24418b5331e..e08077ee59a3b187ef746068ef9a2f1eb2c7dc06 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -42501,3 +42501,10 @@ actions/human_human_locomanipulation/HH07/session_010/raw/mocap/Body0.csv filter
 actions/human_human_locomanipulation/HH07/session_010/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
 actions/human_human_locomanipulation/HH07/session_010/raw/mocap/Body1.csv filter=lfs diff=lfs merge=lfs -text
 actions/human_human_locomanipulation/HH07/session_010/raw/mocap/Body1.trc filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH07/session_010/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH07/session_010/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH07/session_010/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH07/session_010/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH07/session_010/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH07/session_010/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/human_human_locomanipulation/HH07/session_010/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
diff --git a/actions/human_human_locomanipulation/HH07/session_010/raw/sensors/robocap_imu_left.db b/actions/human_human_locomanipulation/HH07/session_010/raw/sensors/robocap_imu_left.db
new file mode 100644
index 0000000000000000000000000000000000000000..9a81ace42609443565b71f52ba3c99730179b199
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH07/session_010/raw/sensors/robocap_imu_left.db
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:069c61ae9b27dc1ff36e5e1d215c71467ff1f8496ac6bd8ff2250973578d25ff
+size 1503232
diff --git a/actions/human_human_locomanipulation/HH07/session_010/raw/sensors/robocap_imu_right.db b/actions/human_human_locomanipulation/HH07/session_010/raw/sensors/robocap_imu_right.db
new file mode 100644
index 0000000000000000000000000000000000000000..8613525c9a168df66ca17acebcc43d81659d5872
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH07/session_010/raw/sensors/robocap_imu_right.db
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18e493ec347fa938c1df1da616a9160b6880a8e217c12ddad7d0ea3c71473a7d
+size 1454080
diff --git a/actions/human_human_locomanipulation/HH07/session_010/raw/sensors/robocap_mag_middle.db b/actions/human_human_locomanipulation/HH07/session_010/raw/sensors/robocap_mag_middle.db
new file mode 100644
index 0000000000000000000000000000000000000000..5776f61ff75ec254a81a92e693fd6291a7bc6cbc
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH07/session_010/raw/sensors/robocap_mag_middle.db
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18ea6bfc4f5743d6ca1e77a6a169d2c36cd506dd77948ba75fcb6f9a13fd2624
+size 385024
diff --git a/actions/human_human_locomanipulation/HH07/session_010/raw/sensors/robowrist_imu_left.db b/actions/human_human_locomanipulation/HH07/session_010/raw/sensors/robowrist_imu_left.db
new file mode 100644
index 0000000000000000000000000000000000000000..35d98345ba72b59caf9b2eec8020b55249380e6d
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH07/session_010/raw/sensors/robowrist_imu_left.db
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c246892cb873f2b6dadc4182ea61615ce5200df30596b270236c76d0a0b7859
+size 1445888
diff --git a/actions/human_human_locomanipulation/HH07/session_010/raw/sensors/robowrist_imu_right.db b/actions/human_human_locomanipulation/HH07/session_010/raw/sensors/robowrist_imu_right.db
new file mode 100644
index 0000000000000000000000000000000000000000..fdb623c72e0624bae73a28dc4bdf219794edae01
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH07/session_010/raw/sensors/robowrist_imu_right.db
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16b0711c5472fc93db04f5ecc265fbbc35f9a0df82232eb5b6571a4aee3b9ccc
+size 1441792
diff --git a/actions/human_human_locomanipulation/HH07/session_010/raw/sensors/robowrist_mag_left.db b/actions/human_human_locomanipulation/HH07/session_010/raw/sensors/robowrist_mag_left.db
new file mode 100644
index 0000000000000000000000000000000000000000..7d1175ace6fffc4d0c2f9b898f7033c4a5ddd908
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH07/session_010/raw/sensors/robowrist_mag_left.db
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8dedc69cd4baffbaae46df73044d391a94f58178e7a07938b2cf2e2d8efe933
+size 368640
diff --git a/actions/human_human_locomanipulation/HH07/session_010/raw/sensors/robowrist_mag_right.db b/actions/human_human_locomanipulation/HH07/session_010/raw/sensors/robowrist_mag_right.db
new file mode 100644
index 0000000000000000000000000000000000000000..a4796630eb443e33daa57b61e7c302e0c2722055
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH07/session_010/raw/sensors/robowrist_mag_right.db
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b32559eb3ab256b8f69f75b61631a0d8a81cd4af9fbabf240ceae2b0cbf8b44
+size 368640
diff --git a/actions/human_human_locomanipulation/HH07/session_010/sensors/head_imu.npz b/actions/human_human_locomanipulation/HH07/session_010/sensors/head_imu.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cbe4a9adabdcaf7799418193febd3c6baca471d2
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH07/session_010/sensors/head_imu.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b84dbc09eff51fe7e5f086558755cc232ad4e184a435bac3255cc006491ccd19
+size 1546190
diff --git a/actions/human_human_locomanipulation/HH07/session_010/sensors/head_mag.npz b/actions/human_human_locomanipulation/HH07/session_010/sensors/head_mag.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b9e33b8d34af29abe1b377f987d61ac09b6adaa8
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH07/session_010/sensors/head_mag.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6995aac94a04b9fb0f2fc45ad2178b6b53d9c706f02c9202dac2eebb92fcdd2c
+size 176692
diff --git a/actions/human_human_locomanipulation/HH07/session_010/sensors/wrist_imu.npz b/actions/human_human_locomanipulation/HH07/session_010/sensors/wrist_imu.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e99fc355fdeb971d7f584da24b294d58a2e2bc0e
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH07/session_010/sensors/wrist_imu.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bd94e33c80448946bb8872fcb9f768508cea39d945f4dcdc8f3f8aa3372ecca
+size 1540626
diff --git a/actions/human_human_locomanipulation/HH07/session_010/sensors/wrist_mag.npz b/actions/human_human_locomanipulation/HH07/session_010/sensors/wrist_mag.npz
new file mode 100644
index 0000000000000000000000000000000000000000..12da2bdc017b28d3b5ace5e33fa21809076ad6d3
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH07/session_010/sensors/wrist_mag.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a310943377a27d93b5624d0ccae2f4c3829151d5a610371089b70ef531765bc
+size 299803
diff --git a/actions/human_human_locomanipulation/HH07/session_010/videos/frame_timestamps.npz b/actions/human_human_locomanipulation/HH07/session_010/videos/frame_timestamps.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f09619fdfb3531e4f609a6f46682b02c731994b2
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH07/session_010/videos/frame_timestamps.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8aa5da2d29deb41e3a2adcaac4a59b200ee8b1e2da5cbdd8168a2ea6c0e91147
+size 287202
diff --git a/actions/human_human_locomanipulation/HH07/session_010/videos/head_left.mp4 b/actions/human_human_locomanipulation/HH07/session_010/videos/head_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9755def40690ee98c997b93d1b1a89b2fecdba04
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH07/session_010/videos/head_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a9d21c1e29dc62a813a3546d8de59a190b7fd350eb01168e5cd1900fd74d4ae
+size 72269624
diff --git a/actions/human_human_locomanipulation/HH07/session_010/videos/head_left_eye.mp4 b/actions/human_human_locomanipulation/HH07/session_010/videos/head_left_eye.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9aa1e84088b8c5edfe7805dfe27db167af579647
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH07/session_010/videos/head_left_eye.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b7a027b4d8601ed09cebdb46ac1df31664d5237adc426a3ceec36d0dbdc4b04
+size 72247429
diff --git a/actions/human_human_locomanipulation/HH07/session_010/videos/head_left_front.mp4 b/actions/human_human_locomanipulation/HH07/session_010/videos/head_left_front.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..01e3802581f93d16178b39c51a84ca814416cf4d
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH07/session_010/videos/head_left_front.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a127d3ffb50d9b88f4845be8ed6c52b1b073fce8540f256cc22ac630b9a4ecf9
+size 72252227
diff --git a/actions/human_human_locomanipulation/HH07/session_010/videos/head_right.mp4 b/actions/human_human_locomanipulation/HH07/session_010/videos/head_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d5d87d24e36ad66d789811939ea18d0e021edc5c
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH07/session_010/videos/head_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edc215fd3f61db678845949e6d593c44158cb5f4e6b2a2a04af8d87353987356
+size 72201506
diff --git a/actions/human_human_locomanipulation/HH07/session_010/videos/head_right_eye.mp4 b/actions/human_human_locomanipulation/HH07/session_010/videos/head_right_eye.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0a68a9116659265e3faa586b22fca7cc468b8c77
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH07/session_010/videos/head_right_eye.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42bb85d4af69533dd37d4b27f968c4631c4cc3a9462c4104312c9dea7e7ca2be
+size 72173455
diff --git a/actions/human_human_locomanipulation/HH07/session_010/videos/head_right_front.mp4 b/actions/human_human_locomanipulation/HH07/session_010/videos/head_right_front.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..96031dc0f3fff80ef941b20bdd65278cfc7f76ac
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH07/session_010/videos/head_right_front.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e8e7fe800cc5cefb94fcb25d16c84bffa66abd3a967c4666d4c17785ba081f6
+size 72245302
diff --git a/actions/human_human_locomanipulation/HH07/session_010/videos/third_person.mp4 b/actions/human_human_locomanipulation/HH07/session_010/videos/third_person.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ec4596fa21fddb3e47c896e5fb8889235e9bbe64
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH07/session_010/videos/third_person.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b36033dc1946208fb7910e947e4a64e0a3481efd9f7a3eaed68975fe59100d3
+size 47381578
diff --git a/actions/human_human_locomanipulation/HH07/session_010/videos/wrist_left.mp4 b/actions/human_human_locomanipulation/HH07/session_010/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a1fba2a7b3ac206d283e82511f89f19fb62a28ab
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH07/session_010/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a14e4f2974d73f1a274068c9b6f2c3771c3d3c277ac8a28da48e8bbe243f4c1
+size 46060453
diff --git a/actions/human_human_locomanipulation/HH07/session_010/videos/wrist_right.mp4 b/actions/human_human_locomanipulation/HH07/session_010/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cfe70ee45c23c77fbe02c91cae95ddb58552646e
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH07/session_010/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83d15e18463a2704fb74911e99e4c965b4941418da6bf1217426dc5a43c01425
+size 48537940
diff --git a/actions/human_human_locomanipulation/HH08/session_001/annotations.json b/actions/human_human_locomanipulation/HH08/session_001/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..d90558ae57cdd15e3a06e6b4d5723f28446f94c0
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH08/session_001/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": "HH08",
+ "instruction": "Carry the long object with your partner, one of you at each end, walking side by side across the room and back. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 78.966656,
+   "video": "left_eye",
+   "video_t_start": 0.03937290407245153
+  }
+ ],
+ "episodes": [
+  {
+   "id": "4e1273f6-0c55-453d-a1f7-3a0eec443309",
+   "segment": "segment1",
+   "action": "HH08",
+   "quality": "valid",
+   "start_s": 0.576,
+   "end_s": 73.56,
+   "t_start": 0.6154,
+   "t_end": 73.5994,
+   "instruction": "Carry the long object with your partner, one of you at each end, walking side by side across the room and back. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  }
+ ]
+}
diff --git a/actions/human_human_locomanipulation/HH08/session_001/cameras/slam.npz b/actions/human_human_locomanipulation/HH08/session_001/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8e0ac0c730b2a59129306b8db504b1014907c5a7
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH08/session_001/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:430773c09c71a100235c2fb2177a06344da69864ef49ac01e068da877e96974b
+size 455306
diff --git a/actions/human_human_locomanipulation/HH08/session_001/meta.json b/actions/human_human_locomanipulation/HH08/session_001/meta.json
index bdd9be99c4e1fefffef9f620b1989b4192dc4d15..c5ce8902d83c96a9ed7c930f9f0674a38768e541 100644
--- a/actions/human_human_locomanipulation/HH08/session_001/meta.json
+++ b/actions/human_human_locomanipulation/HH08/session_001/meta.json
@@ -701,5 +701,9 @@
   "family": "human_human_locomanipulation",
   "primitive": "HH08",
   "source_session": "20260911/HH08/20260911_074049_session11"
+ },
+ "task": {
+  "primitive": "HH08",
+  "instruction": "Carry the long object with your partner, one of you at each end, walking side by side across the room and back. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
  }
 }
diff --git a/actions/human_human_locomanipulation/HH08/session_001/motions/hands_mano.npz b/actions/human_human_locomanipulation/HH08/session_001/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..dba1369db9d10158ff6a154da0e22cd6f47fc26a
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH08/session_001/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6274add6e742c02041874750d98595978c77203bc6f8759c608e98e41f43f3f3
+size 1743257
diff --git a/actions/human_human_locomanipulation/HH08/session_002/annotations.json b/actions/human_human_locomanipulation/HH08/session_002/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..3200fdf967f02727cb51e5e9a17a3b778d0ad72e
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH08/session_002/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": "HH08",
+ "instruction": "Carry the long object with your partner, one of you at each end, walking side by side across the room and back. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 83.966522,
+   "video": "left_eye",
+   "video_t_start": 0.03860022229181359
+  }
+ ],
+ "episodes": [
+  {
+   "id": "d2a1e222-8943-4091-8874-81c1b512b669",
+   "segment": "segment1",
+   "action": "HH08",
+   "quality": "valid",
+   "start_s": 2.085,
+   "end_s": 81.454,
+   "t_start": 2.1236,
+   "t_end": 81.4926,
+   "instruction": "Carry the long object with your partner, one of you at each end, walking side by side across the room and back. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  }
+ ]
+}
diff --git a/actions/human_human_locomanipulation/HH08/session_002/cameras/gsi_online_calibration.json b/actions/human_human_locomanipulation/HH08/session_002/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ead0b8e164d023f398af7a3f993127c818d4494
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH08/session_002/cameras/gsi_online_calibration.json
@@ -0,0 +1,263 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 42,
+    "median_px": 117.94,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.358
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.6858,
+   "gate_fail": [],
+   "held_out_px_after": 0.518,
+   "held_out_px_before": 3.495,
+   "inliers": 2027,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.225,
+    -0.2679,
+    -0.5899
+   ],
+   "split_deg": 0.1057,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.7883,
+   "gate_fail": [],
+   "held_out_px_after": 0.409,
+   "held_out_px_before": 6.494,
+   "inliers": 3699,
+   "position_fitted": true,
+   "position_mm": [
+    5.43,
+    -19.1,
+    4.08
+   ],
+   "position_sigma_mm": 0.142,
+   "position_split_mm": 0.86,
+   "rotvec_deg": [
+    -0.036,
+    0.565,
+    -1.6963
+   ],
+   "split_deg": 0.0516,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.9504,
+   "gate_fail": [],
+   "held_out_px_after": 0.5,
+   "held_out_px_before": 3.628,
+   "inliers": 1681,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.9228,
+    -0.2255,
+    -0.0288
+   ],
+   "split_deg": 0.0837,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.6081,
+   "gate_fail": [],
+   "held_out_px_after": 0.366,
+   "held_out_px_before": 3.731,
+   "inliers": 3979,
+   "position_fitted": true,
+   "position_mm": [
+    6.62,
+    -19.87,
+    4.94
+   ],
+   "position_sigma_mm": 0.136,
+   "position_split_mm": 0.132,
+   "rotvec_deg": [
+    0.0869,
+    -0.4729,
+    -0.3722
+   ],
+   "split_deg": 0.0216,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.3232,
+   "gate_fail": [],
+   "held_out_px_after": 0.317,
+   "held_out_px_before": 4.858,
+   "inliers": 4639,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.4327,
+    -0.0022,
+    -1.2504
+   ],
+   "split_deg": 0.0134,
+   "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": "3c8279ad8d929182c21e5777dcae2c678b9c5e3f69b7fcf7dac67a67046a56fd",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "81c06e42259f4e7b25c719dc7917b4843bffa3632bf784eb58542d394bf4f6b4",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "cb64dae6cce8c05f8d30371572fcf6d9d5dd7c9f119356a14d3ab2f72d896bb0",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "2fd9587e81d025bfdbfbeb4b4f349d723df922f3861054d0d0f7ce36f75fe8d1",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "49be91ab5cf0a85a",
+ "kind": "online_calibration",
+ "output_sha256": "649c0495501dd659aec79bedaa64417ec0434d304b7ed1a56a32b0badf5b07c7",
+ "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": 39.416,
+  "left_eye": 41.32,
+  "left_front": 40.95,
+  "right": 44.318,
+  "right_eye": 40.84,
+  "right_front": 39.243
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   16496010785666,
+   16497010819000,
+   16501010819000,
+   16502010819000,
+   16503010807888,
+   16504010796777,
+   16505010796777,
+   16509010930111,
+   16510010941222,
+   16511010807888,
+   16513010941222,
+   16514010819000,
+   16515010819000,
+   16516010830111,
+   16519010819000,
+   16520010807888,
+   16521010785666,
+   16522010807888,
+   16523010785666,
+   16524010807888,
+   16527010819000,
+   16528010807888,
+   16529010785666,
+   16530010785666,
+   16531010807888,
+   16532010807888,
+   16536010785666,
+   16537010785666,
+   16538010785666,
+   16539010807888,
+   16540010785666,
+   16542010785666,
+   16543010807888,
+   16545010952333,
+   16546010807888,
+   16548010807888,
+   16549010819000,
+   16550010785666,
+   16551010807888,
+   16552010819000,
+   16553010807888,
+   16556010819000,
+   16557010807888,
+   16559010807888,
+   16560010819000,
+   16561010774555,
+   16563010807888,
+   16564010819000,
+   16567010785666,
+   16568010785666,
+   16570010830111,
+   16571010807888,
+   16573010774555,
+   16574010841222,
+   16575010785666
+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/human_human_locomanipulation/HH08/session_002/cameras/slam.npz b/actions/human_human_locomanipulation/HH08/session_002/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..86133ee6d81749027d55d440074935e763751a23
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH08/session_002/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33ba3fdc7dc8b9ca72d7b72f535eb435f1762972711442fc2c799d151956697d
+size 483883
diff --git a/actions/human_human_locomanipulation/HH08/session_002/meta.json b/actions/human_human_locomanipulation/HH08/session_002/meta.json
index e8414fef7eb2bf1e8dbdac9e301cdbf0e5a579a0..7bff8c120e9eb65307c22cc5373d60efe2a93dd3 100644
--- a/actions/human_human_locomanipulation/HH08/session_002/meta.json
+++ b/actions/human_human_locomanipulation/HH08/session_002/meta.json
@@ -336,8 +336,8 @@
   "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": {
@@ -698,10 +698,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 29.9,
+    "offset_rotvec": [
+     -0.121,
+     0.2749,
+     -0.4268
+    ],
+    "dev_deg": {
+     "median": 8.56,
+     "p90": 19.41
+    },
+    "samples": 2098,
+    "accepted": 1969,
+    "wrist_pos_err_mm_median": 52.5,
+    "per_camera": {
+     "head": {
+      "samples": 2098,
+      "accepted": 1969,
+      "gate_deg": 30.0,
+      "offset_deg": 29.9,
+      "tier": "primary",
+      "dev_deg_median": 8.56,
+      "wrist_pos_err_mm_median": 52.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 7948,
+     "interpolated": 1380,
+     "mean_hand": 433,
+     "no_body_fit": 323
+    },
+    "observed_fraction": 0.925,
+    "observed_fraction_of_valid": 0.9556,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 18.57,
+     "smplx": 2.06
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.8,
+      "p90": 10.7
+     },
+     "registered": {
+      "median": 8.6,
+      "p90": 10.7
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 14.83,
+    "offset_rotvec": [
+     -0.0478,
+     -0.0755,
+     0.2429
+    ],
+    "dev_deg": {
+     "median": 16.59,
+     "p90": 22.32
+    },
+    "samples": 2371,
+    "accepted": 2316,
+    "wrist_pos_err_mm_median": 35.8,
+    "per_camera": {
+     "head": {
+      "samples": 2371,
+      "accepted": 2316,
+      "gate_deg": 30.0,
+      "offset_deg": 14.83,
+      "tier": "primary",
+      "dev_deg_median": 16.59,
+      "wrist_pos_err_mm_median": 35.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9304,
+     "interpolated": 452,
+     "mean_hand": 5,
+     "no_body_fit": 323
+    },
+    "observed_fraction": 0.9675,
+    "observed_fraction_of_valid": 0.9995,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.51,
+     "smplx": 1.71
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 15.3,
+      "p90": 17.6
+     },
+     "registered": {
+      "median": 13.0,
+      "p90": 14.1
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T16:47:42.421346+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/human_human_locomanipulation/HH08/session_002",
   "family": "human_human_locomanipulation",
   "primitive": "HH08",
   "source_session": "20260911/HH08/20260911_113027_session45"
+ },
+ "task": {
+  "primitive": "HH08",
+  "instruction": "Carry the long object with your partner, one of you at each end, walking side by side across the room and back. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
  }
 }
diff --git a/actions/human_human_locomanipulation/HH08/session_002/motions/hands_mano.npz b/actions/human_human_locomanipulation/HH08/session_002/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6858184cdedeb1248a8ff93c4f08b39bfbe21e1e
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH08/session_002/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7311d74c976067a8e0e6fcbb96b7281ca488e8d940db3d216b7d668e6895a55
+size 3121333
diff --git a/actions/human_human_locomanipulation/HH08/session_002/motions/smplx.npz b/actions/human_human_locomanipulation/HH08/session_002/motions/smplx.npz
index ec4aebae1c3ae3b51803485086cbe62557cb1cb6..5882c862716c39aadf03758f8a498ffde83cacd1 100644
--- a/actions/human_human_locomanipulation/HH08/session_002/motions/smplx.npz
+++ b/actions/human_human_locomanipulation/HH08/session_002/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7de334fb7a7348ea84c571e5b7f070d32d532fb4f94fc073940887209404d6a3
-size 3753450
+oid sha256:be5cf0b6c641b248c23c8b137ce937fd83a081460b71c99719e5936689cdf671
+size 6973443
diff --git a/actions/human_human_locomanipulation/HH08/session_003/annotations.json b/actions/human_human_locomanipulation/HH08/session_003/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c1ba7edc3b3b1be1f584796d8e33aaa6c442094
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH08/session_003/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": "HH08",
+ "instruction": "Carry the long object with your partner, one of you at each end, walking side by side across the room and back. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 78.966656,
+   "video": "left_eye",
+   "video_t_start": 0.041083639217791956
+  }
+ ],
+ "episodes": [
+  {
+   "id": "d6f48374-7cda-469a-ae5e-ca791fef1382",
+   "segment": "segment1",
+   "action": "HH08",
+   "quality": "valid",
+   "start_s": 1.031,
+   "end_s": 78.966,
+   "t_start": 1.0721,
+   "t_end": 79.0071,
+   "instruction": "Carry the long object with your partner, one of you at each end, walking side by side across the room and back. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  }
+ ]
+}
diff --git a/actions/human_human_locomanipulation/HH08/session_003/cameras/gsi_online_calibration.json b/actions/human_human_locomanipulation/HH08/session_003/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e0f3cd5c4bc8703d39eb478f61504976a37b6d9
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH08/session_003/cameras/gsi_online_calibration.json
@@ -0,0 +1,254 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.359
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 0.5879,
+   "gate_fail": [],
+   "held_out_px_after": 0.479,
+   "held_out_px_before": 3.416,
+   "inliers": 1863,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2149,
+    -0.2248,
+    -0.4988
+   ],
+   "split_deg": 0.0571,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.7343,
+   "gate_fail": [],
+   "held_out_px_after": 0.385,
+   "held_out_px_before": 6.455,
+   "inliers": 3144,
+   "position_fitted": true,
+   "position_mm": [
+    5.21,
+    -15.72,
+    2.85
+   ],
+   "position_sigma_mm": 0.227,
+   "position_split_mm": 1.991,
+   "rotvec_deg": [
+    0.1279,
+    0.5716,
+    -1.6324
+   ],
+   "split_deg": 0.0567,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 0.8553,
+   "gate_fail": [],
+   "held_out_px_after": 0.489,
+   "held_out_px_before": 4.101,
+   "inliers": 1764,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.8423,
+    -0.149,
+    -0.0042
+   ],
+   "split_deg": 0.0193,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.6184,
+   "gate_fail": [],
+   "held_out_px_after": 0.371,
+   "held_out_px_before": 2.955,
+   "inliers": 3255,
+   "position_fitted": true,
+   "position_mm": [
+    8.09,
+    -15.58,
+    2.64
+   ],
+   "position_sigma_mm": 0.233,
+   "position_split_mm": 1.703,
+   "rotvec_deg": [
+    0.272,
+    -0.4557,
+    -0.3174
+   ],
+   "split_deg": 0.0556,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.3243,
+   "gate_fail": [],
+   "held_out_px_after": 0.31,
+   "held_out_px_before": 4.443,
+   "inliers": 4139,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.4346,
+    -0.0108,
+    -1.2509
+   ],
+   "split_deg": 0.0078,
+   "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": "11e292dec1b3a2bfa330779a8e22ed251f4cb7166c2049bb007bd9a56f6ae507",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "42b808d624340182cb3ed6b5a96f609ba47141006eee8ad4655a304ff5222a9b",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "ad3ef53b047eb5932f3d331c919ed0e72ae70db8d59c5fe3650dc0a5f684fd65",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "011351574d25148f56e9df1e68a5d622b0664b2feae6ece115a103a7a2c4061c",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "0664eb5224b1f6c8",
+ "kind": "online_calibration",
+ "output_sha256": "2c6ee3a35991437a4f6079af50299194e9fd2adc815303a608f9d8ca571813f9",
+ "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": 33.464,
+  "left_eye": 33.751,
+  "left_front": 38.639,
+  "right": 41.209,
+  "right_eye": 34.437,
+  "right_front": 38.053
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   19256662569666,
+   19257662591888,
+   19258662603000,
+   19260662591888,
+   19261662603000,
+   19264662591888,
+   19265662591888,
+   19266662591888,
+   19268662580777,
+   19269662658555,
+   19270662647444,
+   19271662569666,
+   19272662603000,
+   19273662591888,
+   19276662569666,
+   19277662591888,
+   19278662591888,
+   19280662714111,
+   19281662591888,
+   19284662591888,
+   19285662569666,
+   19286662569666,
+   19287662603000,
+   19288662603000,
+   19292662591888,
+   19293662591888,
+   19294662591888,
+   19296662569666,
+   19297662725222,
+   19298662591888,
+   19299662580777,
+   19300662591888,
+   19301662591888,
+   19304662580777,
+   19305662569666,
+   19306662591888,
+   19307662591888,
+   19309662714111,
+   19310662569666,
+   19311662603000,
+   19313662591888,
+   19314662558555,
+   19315662591888,
+   19316662714111,
+   19318662603000,
+   19319662558555,
+   19322662569666,
+   19323662591888,
+   19324662580777,
+   19325662603000,
+   19326662725222,
+   19328662580777,
+   19329662591888
+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/human_human_locomanipulation/HH08/session_003/cameras/slam.npz b/actions/human_human_locomanipulation/HH08/session_003/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cafff517fcd57075ef1d87cc727faf4ec27472f8
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH08/session_003/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edb683a50acc3c118828ba7f2d8a4984696f051c14164d7b26af5935e83b40f6
+size 462016
diff --git a/actions/human_human_locomanipulation/HH08/session_003/meta.json b/actions/human_human_locomanipulation/HH08/session_003/meta.json
index d4350bfc48da6561f99561329fb563b1b25b0f81..512086d3eb5603672123cdc61d604e49e18db529 100644
--- a/actions/human_human_locomanipulation/HH08/session_003/meta.json
+++ b/actions/human_human_locomanipulation/HH08/session_003/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": {
@@ -521,10 +521,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.0763539374620759
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 30.95,
+    "offset_rotvec": [
+     -0.1665,
+     0.2966,
+     -0.4197
+    ],
+    "dev_deg": {
+     "median": 6.63,
+     "p90": 12.98
+    },
+    "samples": 2343,
+    "accepted": 2331,
+    "wrist_pos_err_mm_median": 46.5,
+    "per_camera": {
+     "head": {
+      "samples": 2343,
+      "accepted": 2331,
+      "gate_deg": 30.0,
+      "offset_deg": 30.95,
+      "tier": "primary",
+      "dev_deg_median": 6.63,
+      "wrist_pos_err_mm_median": 46.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9330,
+     "interpolated": 142,
+     "mean_hand": 5,
+     "no_body_fit": 7
+    },
+    "observed_fraction": 0.9987,
+    "observed_fraction_of_valid": 0.9995,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 19.09,
+     "smplx": 0.93
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.2,
+      "p90": 9.4
+     },
+     "registered": {
+      "median": 8.2,
+      "p90": 9.2
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 10.62,
+    "offset_rotvec": [
+     0.1152,
+     0.1236,
+     -0.0762
+    ],
+    "dev_deg": {
+     "median": 13.6,
+     "p90": 29.38
+    },
+    "samples": 2300,
+    "accepted": 2083,
+    "wrist_pos_err_mm_median": 53.8,
+    "per_camera": {
+     "head": {
+      "samples": 2300,
+      "accepted": 2083,
+      "gate_deg": 30.0,
+      "offset_deg": 10.62,
+      "tier": "primary",
+      "dev_deg_median": 13.6,
+      "wrist_pos_err_mm_median": 53.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 8360,
+     "interpolated": 428,
+     "mean_hand": 689,
+     "no_body_fit": 7
+    },
+    "observed_fraction": 0.9266,
+    "observed_fraction_of_valid": 0.9273,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 9.77,
+     "smplx": 0.34
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 12.2,
+      "p90": 12.7
+     },
+     "registered": {
+      "median": 9.8,
+      "p90": 10.6
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T16:48:03.725370+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/human_human_locomanipulation/HH08/session_003",
   "family": "human_human_locomanipulation",
   "primitive": "HH08",
   "source_session": "20260911/HH08/20260911_121626_session54"
+ },
+ "task": {
+  "primitive": "HH08",
+  "instruction": "Carry the long object with your partner, one of you at each end, walking side by side across the room and back. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
  }
 }
diff --git a/actions/human_human_locomanipulation/HH08/session_003/motions/hands_mano.npz b/actions/human_human_locomanipulation/HH08/session_003/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bb80584f44b45a912f9c7a6c7f433704f9f91447
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH08/session_003/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:935f4b28788cb5af69d7a9c02fbdd9b3bccb526730f423409817cd37e3a86306
+size 3131505
diff --git a/actions/human_human_locomanipulation/HH08/session_003/motions/smplx.npz b/actions/human_human_locomanipulation/HH08/session_003/motions/smplx.npz
index 60c648828abe3bdae49531fe284ee18929e53049..0f4d726a74e01930b9fa4cf5aacdf2f6e9eb177c 100644
--- a/actions/human_human_locomanipulation/HH08/session_003/motions/smplx.npz
+++ b/actions/human_human_locomanipulation/HH08/session_003/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:aa7b25bea9cbff0d605147ec169601f494026bc347818cb6505cecc5e426556e
-size 3618722
+oid sha256:a8c8584eacc77a64ba79c9ae9f7347dba91e16375ff6862e68ef97775e7b018a
+size 6727170
diff --git a/actions/human_human_locomanipulation/HH08/session_004/annotations.json b/actions/human_human_locomanipulation/HH08/session_004/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ccb5ec4f7ff4f14099f29624713ee8493a44c96
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH08/session_004/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": "HH08",
+ "instruction": "Carry the long object with your partner, one of you at each end, walking side by side across the room and back. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 100.766633,
+   "video": "left_eye",
+   "video_t_start": -0.01776263512929732
+  }
+ ],
+ "episodes": [
+  {
+   "id": "60f56ed3-f753-4b84-a213-2a1bb19439f5",
+   "segment": "segment1",
+   "action": "HH08",
+   "quality": "valid",
+   "start_s": 1.616,
+   "end_s": 96.689,
+   "t_start": 1.5982,
+   "t_end": 96.6712,
+   "instruction": "Carry the long object with your partner, one of you at each end, walking side by side across the room and back. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  }
+ ]
+}
diff --git a/actions/human_human_locomanipulation/HH08/session_004/cameras/gsi_online_calibration.json b/actions/human_human_locomanipulation/HH08/session_004/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7cafd45fe6ff69c4e226482ad25545d158f8769
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH08/session_004/cameras/gsi_online_calibration.json
@@ -0,0 +1,240 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.379
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.7239,
+   "gate_fail": [],
+   "held_out_px_after": 0.554,
+   "held_out_px_before": 15.899,
+   "inliers": 1048,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.2716,
+    -0.2555,
+    -1.1356
+   ],
+   "split_deg": 0.0601,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.503,
+   "gate_fail": [],
+   "held_out_px_after": 0.425,
+   "held_out_px_before": 5.151,
+   "inliers": 4019,
+   "position_fitted": true,
+   "position_mm": [
+    3.22,
+    -24.79,
+    -7.18
+   ],
+   "position_sigma_mm": 0.352,
+   "position_split_mm": 1.209,
+   "rotvec_deg": [
+    1.8257,
+    -0.8134,
+    1.5067
+   ],
+   "split_deg": 0.0395,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.8989,
+   "gate_fail": [],
+   "held_out_px_after": 0.454,
+   "held_out_px_before": 10.613,
+   "inliers": 2183,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.7585,
+    -1.2382,
+    3.2521
+   ],
+   "split_deg": 0.0315,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 3.445,
+   "gate_fail": [],
+   "held_out_px_after": 0.397,
+   "held_out_px_before": 6.222,
+   "inliers": 4224,
+   "position_fitted": true,
+   "position_mm": [
+    6.16,
+    -14.05,
+    -12.35
+   ],
+   "position_sigma_mm": 0.457,
+   "position_split_mm": 1.399,
+   "rotvec_deg": [
+    2.1343,
+    -1.3054,
+    2.3682
+   ],
+   "split_deg": 0.0313,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.3996,
+   "gate_fail": [],
+   "held_out_px_after": 0.331,
+   "held_out_px_before": 2.438,
+   "inliers": 4415,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2237,
+    -0.3273,
+    0.0505
+   ],
+   "split_deg": 0.0313,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "53d2d85799a3d097cfec1e2b388ec4ef2816f05d6e029703eef0be9a09fbf264",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "0429d7234212068ea7c5b76a4040c7ea098f72fb9ed68a0fbab39f157488c65d",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "ba985accc4d52c4e5c5cb8de51077419a1f08377f355a91cecf3c78c3ae0f66c",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "54448fb2427708d007c290793b55cef265df57a951b17cd38da6e91c604bbd71",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "1f4e71c378b6a6b1",
+ "kind": "online_calibration",
+ "output_sha256": "ecb44902f335e30d8170dc44087f49c1d2ccec5fa156e503cae746c3ce94c958",
+ "overlap": {
+  "left-right": 0.5,
+  "left_eye-left": 0.695,
+  "left_eye-right": 0.702,
+  "left_front-left": 0.506,
+  "left_front-left_eye": 0.692,
+  "left_front-right": 0.458,
+  "left_front-right_eye": 0.698,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.699,
+  "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": 38.122,
+  "left_eye": 35.952,
+  "left_front": 43.471,
+  "right": 37.657,
+  "right_eye": 37.969,
+  "right_front": 44.076
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   4286741440444,
+   4287741451555,
+   4288741584888,
+   4289741451555,
+   4290741473777,
+   4291741518222,
+   4292741529333,
+   4293741596000,
+   4294741473777,
+   4295741529333,
+   4296741484888,
+   4297741473777,
+   4298741507111,
+   4299741451555,
+   4300741451555,
+   4301741473777,
+   4302741484888,
+   4303741462666,
+   4304741440444,
+   4305741451555,
+   4306741540444,
+   4307741451555,
+   4308741529333,
+   4309741596000,
+   4310741529333,
+   4311741584888,
+   4312741451555,
+   4313741473777,
+   4314741451555,
+   4315741484888,
+   4316741596000,
+   4317741473777,
+   4318741484888,
+   4319741518222,
+   4320741507111,
+   4321741484888,
+   4322741529333,
+   4323741473777,
+   4324741529333,
+   4325741484888,
+   4326741473777
+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/human_human_locomanipulation/HH08/session_004/cameras/slam.npz b/actions/human_human_locomanipulation/HH08/session_004/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..389531d4da5e515584f83e0de3b3a6bfc2f91210
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH08/session_004/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5163bb1cc60d29b5ca3adc8e71fee338f99030f8337ad2bf4021d78bcfdea4b5
+size 581811
diff --git a/actions/human_human_locomanipulation/HH08/session_004/meta.json b/actions/human_human_locomanipulation/HH08/session_004/meta.json
index 2c51b86ed3fe4e7692760b49efeac6c2887287b1..6f13ca087ff1b49948ac30bb3e7d1da0a83c7338 100644
--- a/actions/human_human_locomanipulation/HH08/session_004/meta.json
+++ b/actions/human_human_locomanipulation/HH08/session_004/meta.json
@@ -379,8 +379,8 @@
   "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": {
@@ -703,10 +703,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 15.45,
+    "offset_rotvec": [
+     0.0778,
+     -0.2283,
+     0.1207
+    ],
+    "dev_deg": {
+     "median": 13.94,
+     "p90": 25.27
+    },
+    "samples": 2530,
+    "accepted": 2400,
+    "wrist_pos_err_mm_median": 46.1,
+    "per_camera": {
+     "head": {
+      "samples": 2530,
+      "accepted": 2400,
+      "gate_deg": 30.0,
+      "offset_deg": 15.45,
+      "tier": "primary",
+      "dev_deg_median": 13.94,
+      "wrist_pos_err_mm_median": 46.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9776,
+     "interpolated": 1668,
+     "mean_hand": 649,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9463,
+    "observed_fraction_of_valid": 0.9463,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 16.9,
+     "smplx": 0.88
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 4.7,
+      "p90": 6.3
+     },
+     "registered": {
+      "median": 4.8,
+      "p90": 5.7
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 9.4,
+    "offset_rotvec": [
+     0.0643,
+     0.0931,
+     -0.1188
+    ],
+    "dev_deg": {
+     "median": 15.17,
+     "p90": 23.17
+    },
+    "samples": 2282,
+    "accepted": 2224,
+    "wrist_pos_err_mm_median": 438.3,
+    "per_camera": {
+     "head": {
+      "samples": 2282,
+      "accepted": 2224,
+      "gate_deg": 30.0,
+      "offset_deg": 9.4,
+      "tier": "primary",
+      "dev_deg_median": 15.17,
+      "wrist_pos_err_mm_median": 438.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9108,
+     "interpolated": 2816,
+     "mean_hand": 169,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.986,
+    "observed_fraction_of_valid": 0.986,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 9.63,
+     "smplx": 0.64
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 12.1,
+      "p90": 21.0
+     },
+     "registered": {
+      "median": 11.3,
+      "p90": 19.0
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T20:27:37.982728+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/human_human_locomanipulation/HH08/session_004",
   "family": "human_human_locomanipulation",
   "primitive": "HH08",
   "source_session": "20261020/HH08/20261020_071452_session4"
+ },
+ "task": {
+  "primitive": "HH08",
+  "instruction": "Carry the long object with your partner, one of you at each end, walking side by side across the room and back. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
  }
 }
diff --git a/actions/human_human_locomanipulation/HH08/session_004/motions/hands_mano.npz b/actions/human_human_locomanipulation/HH08/session_004/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8ec4397a114f8aeef0b8992c1c575d8a95da91d5
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH08/session_004/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd1b1464a6d9b33670a7f52e591443a4575ccbe120ef4c86a4fcbfbe7ed4b3fc
+size 3298967
diff --git a/actions/human_human_locomanipulation/HH08/session_004/motions/smplx.npz b/actions/human_human_locomanipulation/HH08/session_004/motions/smplx.npz
index bb9b6296c9e3bafcfb2fd7f6b2205538c84c18ed..ef7c706284373d11e5ad7000104d638de61967b5 100644
--- a/actions/human_human_locomanipulation/HH08/session_004/motions/smplx.npz
+++ b/actions/human_human_locomanipulation/HH08/session_004/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3bf19d8bff2162ba5cc8d2fd9c78a39d3c46bb6ddb5cd83fff97a9ff3f3fa72e
-size 4661791
+oid sha256:cb9c36c78222b4b31b08faec909e58e5360ce7fbadbb9b8a1d2131d1f9a1c965
+size 8628749
diff --git a/actions/human_human_locomanipulation/HH08/session_005/annotations.json b/actions/human_human_locomanipulation/HH08/session_005/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..eccbeb0900abb19c1e4ed7095c775b168aaabd27
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH08/session_005/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": "HH08",
+ "instruction": "Carry the long object with your partner, one of you at each end, walking side by side across the room and back. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 88.533211,
+   "video": "left_eye",
+   "video_t_start": 0.04006773384400668
+  }
+ ],
+ "episodes": [
+  {
+   "id": "18306fa6-d9ff-426e-bc09-9138b4bd5900",
+   "segment": "segment1",
+   "action": "HH08",
+   "quality": "valid",
+   "start_s": 1.149,
+   "end_s": 84.575,
+   "t_start": 1.1891,
+   "t_end": 84.6151,
+   "instruction": "Carry the long object with your partner, one of you at each end, walking side by side across the room and back. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  }
+ ]
+}
diff --git a/actions/human_human_locomanipulation/HH08/session_005/cameras/gsi_online_calibration.json b/actions/human_human_locomanipulation/HH08/session_005/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..72e06bf27a4f6a3adb3c9e08a2a88d219c23c04a
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH08/session_005/cameras/gsi_online_calibration.json
@@ -0,0 +1,215 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.399
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.6742,
+   "gate_fail": [],
+   "held_out_px_after": 0.751,
+   "held_out_px_before": 21.597,
+   "inliers": 712,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.2918,
+    -0.2,
+    -1.0461
+   ],
+   "split_deg": 0.3144,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.4653,
+   "gate_fail": [],
+   "held_out_px_after": 0.428,
+   "held_out_px_before": 5.563,
+   "inliers": 2916,
+   "position_fitted": true,
+   "position_mm": [
+    -0.3,
+    -25.06,
+    -2.31
+   ],
+   "position_sigma_mm": 0.334,
+   "position_split_mm": 2.883,
+   "rotvec_deg": [
+    1.814,
+    -0.7204,
+    1.506
+   ],
+   "split_deg": 0.1056,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.9602,
+   "gate_fail": [],
+   "held_out_px_after": 0.566,
+   "held_out_px_before": 9.599,
+   "inliers": 1267,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.8538,
+    -1.2048,
+    3.2856
+   ],
+   "split_deg": 0.1,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 3.3654,
+   "gate_fail": [],
+   "held_out_px_after": 0.463,
+   "held_out_px_before": 6.055,
+   "inliers": 2814,
+   "position_fitted": true,
+   "position_mm": [
+    2.95,
+    -18.29,
+    -7.01
+   ],
+   "position_sigma_mm": 0.39,
+   "position_split_mm": 6.751,
+   "rotvec_deg": [
+    2.051,
+    -1.2139,
+    2.3761
+   ],
+   "split_deg": 0.1808,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.3786,
+   "gate_fail": [],
+   "held_out_px_after": 0.357,
+   "held_out_px_before": 2.003,
+   "inliers": 2962,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2195,
+    -0.3082,
+    0.0128
+   ],
+   "split_deg": 0.025,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "4cd5393329510f6d8572ca28275e5049a8411337eb113a20045c5659b482d983",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "50dd5b987160dbc5bca40e3c050d5768f8662929b4595997a785485f619e1915",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "5bef29289fdd7a86e534927ef42a36a76322e1cd5be139972d01061ff5b59703",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "7ade88163270ead456cfba0e82109bf4cc912eec5dc28447ca853b33f7fb96c7",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "0d8feb322f3e3cb5",
+ "kind": "online_calibration",
+ "output_sha256": "2ecc6548fd43059394a922e38248108916a7b43bbff81fb6dcf116d5b1e06e77",
+ "overlap": {
+  "left-right": 0.5,
+  "left_eye-left": 0.695,
+  "left_eye-right": 0.702,
+  "left_front-left": 0.506,
+  "left_front-left_eye": 0.692,
+  "left_front-right": 0.458,
+  "left_front-right_eye": 0.698,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.699,
+  "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": 39.697,
+  "left_eye": 39.681,
+  "left_front": 44.742,
+  "right": 44.219,
+  "right_eye": 39.883,
+  "right_front": 45.365
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   4424362327777,
+   4425362316666,
+   4426362316666,
+   4427362405555,
+   4428362338888,
+   4429362361111,
+   4430362316666,
+   4431362316666,
+   4432362394444,
+   4433362316666,
+   4434362327777,
+   4435362416666,
+   4436362350000,
+   4437362316666,
+   4438362316666,
+   4439362350000
+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/human_human_locomanipulation/HH08/session_005/cameras/slam.npz b/actions/human_human_locomanipulation/HH08/session_005/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4e6c3491d13f6f421438f2f29d98de9f633a1130
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH08/session_005/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44688c31001cac76eabb6d2aa41ea939d6c54efacc28a89b9162018f45f20800
+size 511455
diff --git a/actions/human_human_locomanipulation/HH08/session_005/meta.json b/actions/human_human_locomanipulation/HH08/session_005/meta.json
index 8121dca9157563ef4065f677b6633817afcbf390..583761e5d99a3b4ed846928f4bc7a01ee73375ed 100644
--- a/actions/human_human_locomanipulation/HH08/session_005/meta.json
+++ b/actions/human_human_locomanipulation/HH08/session_005/meta.json
@@ -372,8 +372,8 @@
   "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": {
@@ -689,10 +689,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 11.63,
+    "offset_rotvec": [
+     -0.0615,
+     -0.1848,
+     0.0571
+    ],
+    "dev_deg": {
+     "median": 12.21,
+     "p90": 27.43
+    },
+    "samples": 2430,
+    "accepted": 2229,
+    "wrist_pos_err_mm_median": 50.5,
+    "per_camera": {
+     "head": {
+      "samples": 2430,
+      "accepted": 2229,
+      "gate_deg": 30.0,
+      "offset_deg": 11.63,
+      "tier": "primary",
+      "dev_deg_median": 12.21,
+      "wrist_pos_err_mm_median": 50.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9009,
+     "interpolated": 1094,
+     "mean_hand": 521,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9502,
+    "observed_fraction_of_valid": 0.951,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 16.1,
+     "smplx": 1.64
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.1,
+      "p90": 9.0
+     },
+     "registered": {
+      "median": 6.2,
+      "p90": 7.1
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 3.95,
+    "offset_rotvec": [
+     -0.0678,
+     0.0028,
+     -0.0124
+    ],
+    "dev_deg": {
+     "median": 11.33,
+     "p90": 32.79
+    },
+    "samples": 2165,
+    "accepted": 1904,
+    "wrist_pos_err_mm_median": 60.5,
+    "per_camera": {
+     "head": {
+      "samples": 2165,
+      "accepted": 1904,
+      "gate_deg": 30.0,
+      "offset_deg": 3.95,
+      "tier": "primary",
+      "dev_deg_median": 11.33,
+      "wrist_pos_err_mm_median": 60.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 7767,
+     "interpolated": 2200,
+     "mean_hand": 657,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9375,
+    "observed_fraction_of_valid": 0.9382,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 10.71,
+     "smplx": 1.16
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 13.6,
+      "p90": 23.8
+     },
+     "registered": {
+      "median": 13.5,
+      "p90": 21.9
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T20:24:47.621472+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/human_human_locomanipulation/HH08/session_005",
   "family": "human_human_locomanipulation",
   "primitive": "HH08",
   "source_session": "20261020/HH08/20261020_071710_session5"
+ },
+ "task": {
+  "primitive": "HH08",
+  "instruction": "Carry the long object with your partner, one of you at each end, walking side by side across the room and back. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
  }
 }
diff --git a/actions/human_human_locomanipulation/HH08/session_005/motions/hands_mano.npz b/actions/human_human_locomanipulation/HH08/session_005/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..db4e24c7062d59995f3808593266456d0b8be744
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH08/session_005/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51d7aedf48beac145040e8bbcc46f8c4acd8460083b5e94c0616e159510304be
+size 3129494
diff --git a/actions/human_human_locomanipulation/HH08/session_005/motions/smplx.npz b/actions/human_human_locomanipulation/HH08/session_005/motions/smplx.npz
index 7173ec72b6cd2289898921abe2478a05d4d1ad74..753adf21f9b08b089c3af69a9b3e1a3b2ed3e883 100644
--- a/actions/human_human_locomanipulation/HH08/session_005/motions/smplx.npz
+++ b/actions/human_human_locomanipulation/HH08/session_005/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ee325d566a3ec2bf1760ca96bee347f5529cb599843ffc952e3ffa4d436cf837
-size 4091191
+oid sha256:cded45209fa0bfa5a89fcbf1f1c7a76d854f86c24d6ff9667553602d30f020e2
+size 7514958
diff --git a/actions/human_human_locomanipulation/HH08/session_006/annotations.json b/actions/human_human_locomanipulation/HH08/session_006/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdf02dea2028d64ff40509ad35e23cc7190559fc
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH08/session_006/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": "HH08",
+ "instruction": "Carry the long object with your partner, one of you at each end, walking side by side across the room and back. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 83.299989,
+   "video": "left_eye",
+   "video_t_start": 0.03938154107029865
+  }
+ ],
+ "episodes": [
+  {
+   "id": "b7f09053-82f9-4af0-82b5-db232778ba88",
+   "segment": "segment1",
+   "action": "HH08",
+   "quality": "valid",
+   "start_s": 0.842,
+   "end_s": 80.647,
+   "t_start": 0.8814,
+   "t_end": 80.6864,
+   "instruction": "Carry the long object with your partner, one of you at each end, walking side by side across the room and back. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
+  }
+ ]
+}
diff --git a/actions/human_human_locomanipulation/HH08/session_006/cameras/gsi_online_calibration.json b/actions/human_human_locomanipulation/HH08/session_006/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..f61e2bb234bebc282a7a696ddd3f56ca759b55c4
--- /dev/null
+++ b/actions/human_human_locomanipulation/HH08/session_006/cameras/gsi_online_calibration.json
@@ -0,0 +1,253 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.413
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.5839,
+   "gate_fail": [],
+   "held_out_px_after": 0.517,
+   "held_out_px_before": 13.096,
+   "inliers": 1623,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.299,
+    -0.1197,
+    -0.8983
+   ],
+   "split_deg": 0.1034,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.585,
+   "gate_fail": [],
+   "held_out_px_after": 0.61,
+   "held_out_px_before": 8.659,
+   "inliers": 1954,
+   "position_fitted": true,
+   "position_mm": [
+    1.18,
+    -24.85,
+    -3.72
+   ],
+   "position_sigma_mm": 0.216,
+   "position_split_mm": 0.577,
+   "rotvec_deg": [
+    1.8282,
+    -0.8705,
+    1.6069
+   ],
+   "split_deg": 0.0668,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.9869,
+   "gate_fail": [],
+   "held_out_px_after": 1.114,
+   "held_out_px_before": 11.014,
+   "inliers": 1360,
+   "position_fitted": false,
+   "rotvec_deg": [
+    2.0942,
+    -1.3703,
+    3.1036
+   ],
+   "split_deg": 0.5432,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 3.1771,
+   "gate_fail": [],
+   "held_out_px_after": 0.441,
+   "held_out_px_before": 7.044,
+   "inliers": 2921,
+   "position_fitted": true,
+   "position_mm": [
+    1.2,
+    -21.17,
+    -1.17
+   ],
+   "position_sigma_mm": 0.176,
+   "position_split_mm": 0.38,
+   "rotvec_deg": [
+    1.8683,
+    -1.1526,
+    2.2968
+   ],
+   "split_deg": 0.0493,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.4539,
+   "gate_fail": [],
+   "held_out_px_after": 0.33,
+   "held_out_px_before": 2.693,
+   "inliers": 4331,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2246,
+    -0.3941,
+    -0.0172
+   ],
+   "split_deg": 0.0297,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "da4008746b099fb7a46967cd7a5b2a2c1328e63662e729c8641fe42f6b35f055",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "294fe163ea82fc47f392333d31e79822a773904a9798a460bea6845ca76a0230",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "c87bad05e43c6d113338626307c340e00dfec19456277c7b71ac8cadd88682f5",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "1c7e746c2e767e9e383417e09b7edcf6dd3a7b5fd280f34f43fbdfa153da32dd",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "5501c32538c3bda4",
+ "kind": "online_calibration",
+ "output_sha256": "d455d920578acb05585300d8d8ca9c5d9d64fd16e9127827c803609f8ee41e37",
+ "overlap": {
+  "left-right": 0.5,
+  "left_eye-left": 0.695,
+  "left_eye-right": 0.702,
+  "left_front-left": 0.506,
+  "left_front-left_eye": 0.692,
+  "left_front-right": 0.458,
+  "left_front-right_eye": 0.698,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.699,
+  "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": 44.399,
+  "left_eye": 42.911,
+  "left_front": 46.529,
+  "right": 46.935,
+  "right_eye": 45.652,
+  "right_front": 45.72
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   436526761888,
+   437526761888,
+   439526750777,
+   440526750777,
+   443526761888,
+   445526761888,
+   446526861888,
+   447526750777,
+   448526739666,
+   452526750777,
+   453526773000,
+   454526761888,
+   457526873000,
+   458526761888,
+   459526750777,
+   462526761888,
+   463526750777,
+   464526761888,
+   465526773000,
+   468526761888,
+   469526773000,
+   470526761888,
+   472526750777,
+   473526784111,
+   474526761888,
+   475526739666,
+   477526761888,
+   478526739666,
+   480526773000,
+   481526773000,
+   482526817444,
+   483526784111,
+   487526761888,
+   488526761888,
+   489526761888,
+   492526739666,
+   493526761888,
+   494526761888,
+   497526761888,
+   498526761888,
+   499526739666,
+   500526761888,
+   502526750777,
+   503526750777,
+   504526761888,
+   505526761888,
+   507526773000,
+   508526750777,
+   509526761888,
+   510526750777,
+   512526750777,
+   513526895222,
+   516526828555,
+   517526761888
+  ]
+ },
+ "version": 1
+}
\ No newline at end of file