diff --git a/actions/locomotion_primitives/L02/session_012/cameras/slam.npz b/actions/locomotion_primitives/L02/session_012/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d0313e6b86303695ff41a24c6a0ced3b33f7de10
--- /dev/null
+++ b/actions/locomotion_primitives/L02/session_012/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 796605
diff --git a/actions/locomotion_primitives/L02/session_012/meta.json b/actions/locomotion_primitives/L02/session_012/meta.json
index 28f77b28be846bc8c99c77000911e79ef34cb36c..66864ad95cdd3660bd39b887dd8dd3fb9df9283a 100644
--- a/actions/locomotion_primitives/L02/session_012/meta.json
+++ b/actions/locomotion_primitives/L02/session_012/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": {
@@ -519,10 +519,124 @@
   "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": 12.78,
+    "offset_rotvec": [
+     -0.1293,
+     -0.181,
+     -0.0158
+    ],
+    "dev_deg": {
+     "median": 8.28,
+     "p90": 20.62
+    },
+    "samples": 3947,
+    "accepted": 3783,
+    "wrist_pos_err_mm_median": 40.0,
+    "per_camera": {
+     "head": {
+      "samples": 3947,
+      "accepted": 3783,
+      "gate_deg": 30.0,
+      "offset_deg": 12.78,
+      "tier": "primary",
+      "dev_deg_median": 8.28,
+      "wrist_pos_err_mm_median": 40.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15250,
+     "interpolated": 1274,
+     "mean_hand": 160,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9904,
+    "observed_fraction_of_valid": 0.9904,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.13,
+     "smplx": 1.61
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.3,
+      "p90": 9.8
+     },
+     "registered": {
+      "median": 9.4,
+      "p90": 10.4
+     }
+    }
+   },
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+    "offset_deg": 9.34,
+    "offset_rotvec": [
+     -0.0753,
+     -0.0705,
+     0.1262
+    ],
+    "dev_deg": {
+     "median": 8.21,
+     "p90": 20.88
+    },
+    "samples": 3936,
+    "accepted": 3813,
+    "wrist_pos_err_mm_median": 40.9,
+    "per_camera": {
+     "head": {
+      "samples": 3936,
+      "accepted": 3813,
+      "gate_deg": 30.0,
+      "offset_deg": 9.34,
+      "tier": "primary",
+      "dev_deg_median": 8.21,
+      "wrist_pos_err_mm_median": 40.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15372,
+     "interpolated": 1300,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9993,
+    "observed_fraction_of_valid": 0.9993,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 10.53,
+     "smplx": 1.03
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 4.9,
+      "p90": 7.0
+     },
+     "registered": {
+      "median": 4.9,
+      "p90": 7.9
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T13:17:02.122662+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/L02/session_012",
   "family": "locomotion_primitives",
   "primitive": "L02",
   "source_session": "20260902/L02/20260902_024401_session20"
+ },
+ "task": {
+  "primitive": "L02",
+  "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
  }
 }
diff --git a/actions/locomotion_primitives/L02/session_012/motions/hands_mano.npz b/actions/locomotion_primitives/L02/session_012/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6c67e0d3bf667e3fa26c46b888a1afa15a2a1a10
--- /dev/null
+++ b/actions/locomotion_primitives/L02/session_012/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80a6dcd190e8cdac7008d95505b58bb3257ebe753b790b3f8642d87c9d86ce30
+size 5329177
diff --git a/actions/locomotion_primitives/L02/session_012/motions/smplx.npz b/actions/locomotion_primitives/L02/session_012/motions/smplx.npz
index fda85cc6ef14dbcbced10cf8ec07e560950dbf79..ab6e6184803d8604d657daf89a669325ceffec43 100644
--- a/actions/locomotion_primitives/L02/session_012/motions/smplx.npz
+++ b/actions/locomotion_primitives/L02/session_012/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 6409235
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+size 11992568
diff --git a/actions/locomotion_primitives/L02/session_013/annotations.json b/actions/locomotion_primitives/L02/session_013/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f9e5020500c339346057f0a926a2ab03708f4a1
--- /dev/null
+++ b/actions/locomotion_primitives/L02/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": "L02",
+ "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 138.966678,
+   "video": "left_eye",
+   "video_t_start": 0.03869594748047134
+  }
+ ],
+ "episodes": [
+  {
+   "id": "c7b01795-6920-4f10-b477-4e3eac26f65f",
+   "segment": "segment1",
+   "action": "L02",
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+   "end_s": 17.639,
+   "t_start": 3.3247,
+   "t_end": 17.6777,
+   "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
+  },
+  {
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+   "segment": "segment1",
+   "action": "L02",
+   "quality": "valid",
+   "start_s": 25.958,
+   "end_s": 44.349,
+   "t_start": 25.9967,
+   "t_end": 44.3877,
+   "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
+  },
+  {
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+   "segment": "segment1",
+   "action": "L02",
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+   "end_s": 73.402,
+   "t_start": 53.8877,
+   "t_end": 73.4407,
+   "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
+  },
+  {
+   "id": "0a90c25b-561f-4cf6-8cbf-d3b2695e0adc",
+   "segment": "segment1",
+   "action": "L02",
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+   "end_s": 98.996,
+   "t_start": 81.8657,
+   "t_end": 99.0347,
+   "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
+  },
+  {
+   "id": "aaf9be37-94ba-4efb-aeac-37137cb69c90",
+   "segment": "segment1",
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+   "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/L02/session_013/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/L02/session_013/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..e37a9bead379466a25adcf811eaf7e0f60a7420f
--- /dev/null
+++ b/actions/locomotion_primitives/L02/session_013/cameras/gsi_online_calibration.json
@@ -0,0 +1,264 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
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+    "median_px": 19.19,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.356
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.9934,
+   "gate_fail": [],
+   "held_out_px_after": 0.733,
+   "held_out_px_before": 6.861,
+   "inliers": 1544,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.0821,
+    0.9395,
+    0.3121
+   ],
+   "split_deg": 0.0817,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
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+   "held_out_px_before": 2.351,
+   "inliers": 3576,
+   "position_fitted": true,
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+    7.05,
+    11.76
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+   "position_split_mm": 4.19,
+   "rotvec_deg": [
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+    0.7544,
+    -0.8384
+   ],
+   "split_deg": 0.0966,
+   "usable": true
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+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.378,
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+    -0.084,
+    -0.0368
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+   "split_deg": 0.1394,
+   "usable": true
+  },
+  "right_eye": {
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+   "against": [
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+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.7398,
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+   "held_out_px_before": 1.396,
+   "inliers": 3892,
+   "position_fitted": true,
+   "position_mm": [
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+    5.84,
+    10.24
+   ],
+   "position_sigma_mm": 0.247,
+   "position_split_mm": 2.985,
+   "rotvec_deg": [
+    0.085,
+    0.3776,
+    -0.6304
+   ],
+   "split_deg": 0.0525,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9297,
+   "gate_fail": [],
+   "held_out_px_after": 0.326,
+   "held_out_px_before": 6.701,
+   "inliers": 5621,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3518,
+    0.4674,
+    -1.8389
+   ],
+   "split_deg": 0.0274,
+   "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": "53860b3fddeaac2c4a888c6354ff334dda4649b00d7f85467ef13d159d9fe2c6",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "70bf2fa95cd8c62a8b513a75f3e5f1f10ea61b98765f56306a64e9cdd0bbeeae",
+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "00daea986600860f339a663e37031e70c6853e306edc036fd25f1e61436b4d0c",
+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
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+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "57d87819e91d52e0",
+ "kind": "online_calibration",
+ "output_sha256": "afecb79ebbcf35cc4f4707a30d9d5281ef38de0ef5223a3f7a4c278d764c3be3",
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+  "right_front-left_eye": 0.711,
+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
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+ "picture_change": {
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+  "right_eye": 42.041,
+  "right_front": 46.343
+ },
+ "runtime": {
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+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
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+}
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diff --git a/actions/locomotion_primitives/L02/session_013/cameras/slam.npz b/actions/locomotion_primitives/L02/session_013/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4db3661a5286365146d8cb02634b6de9dc2599b3
--- /dev/null
+++ b/actions/locomotion_primitives/L02/session_013/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:922448c5eb79c6954cfbe9b5e2b53b486dba0987eeb9522dccd62992c4431d22
+size 797625
diff --git a/actions/locomotion_primitives/L02/session_013/meta.json b/actions/locomotion_primitives/L02/session_013/meta.json
index daa0b9393a6165b1fb46d73795ec220470b8dc09..94a50afcb9381f20cf3ab504096a9586f4f7898c 100644
--- a/actions/locomotion_primitives/L02/session_013/meta.json
+++ b/actions/locomotion_primitives/L02/session_013/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": {
@@ -519,10 +519,124 @@
   "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": 13.14,
+    "offset_rotvec": [
+     -0.148,
+     -0.1749,
+     -0.0081
+    ],
+    "dev_deg": {
+     "median": 9.65,
+     "p90": 24.06
+    },
+    "samples": 3858,
+    "accepted": 3652,
+    "wrist_pos_err_mm_median": 38.9,
+    "per_camera": {
+     "head": {
+      "samples": 3858,
+      "accepted": 3652,
+      "gate_deg": 30.0,
+      "offset_deg": 13.14,
+      "tier": "primary",
+      "dev_deg_median": 9.65,
+      "wrist_pos_err_mm_median": 38.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14718,
+     "interpolated": 998,
+     "mean_hand": 968,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.942,
+    "observed_fraction_of_valid": 0.942,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 14.48,
+     "smplx": 1.9
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.8,
+      "p90": 8.1
+     },
+     "registered": {
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+     "smplx": 1.11
+    },
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+     },
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+      "median": 8.1,
+      "p90": 12.3
+     }
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+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T13:17:21.032019+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/L02/session_013",
   "family": "locomotion_primitives",
   "primitive": "L02",
   "source_session": "20260902/L02/20260902_024629_session21"
+ },
+ "task": {
+  "primitive": "L02",
+  "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
  }
 }
diff --git a/actions/locomotion_primitives/L02/session_013/motions/hands_mano.npz b/actions/locomotion_primitives/L02/session_013/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7c277fb2dbfc720859c696647800329b4610fbed
--- /dev/null
+++ b/actions/locomotion_primitives/L02/session_013/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35477dcd23eaa8f864b23168108fbad244b933c57f269e9981de4105e4ce8e8b
+size 5251668
diff --git a/actions/locomotion_primitives/L02/session_013/motions/smplx.npz b/actions/locomotion_primitives/L02/session_013/motions/smplx.npz
index 9e2bdc09e65c12a1bdcb976cb520a652c7494417..48ab9dbca8e0b496a483bb11888350818668f0af 100644
--- a/actions/locomotion_primitives/L02/session_013/motions/smplx.npz
+++ b/actions/locomotion_primitives/L02/session_013/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/L02/session_014/annotations.json b/actions/locomotion_primitives/L02/session_014/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d322581d27ea121434694eb0c629ae5d28b564d
--- /dev/null
+++ b/actions/locomotion_primitives/L02/session_014/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": "L02",
+ "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop.",
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+   "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
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+  },
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+   "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
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+  },
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/L02/session_014/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/L02/session_014/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..aaafa90a1eb3fe367e4191bb46c632834f51eced
--- /dev/null
+++ b/actions/locomotion_primitives/L02/session_014/cameras/gsi_online_calibration.json
@@ -0,0 +1,268 @@
+{
+ "camera_fit": {
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+   {
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+    "median_px": 22.31,
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+     "right"
+    ]
+   }
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+  "median_px": 0.435
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
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+    "right_front",
+    "left_eye",
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+    0.7282,
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+   "usable": true
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+    "right_eye",
+    "left",
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+   "position_rejected": {
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+     4.81,
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+    "position_split_mm": 9.807
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+    0.6656,
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+   "usable": true
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+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.2747,
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+   "position_fitted": false,
+   "rotvec_deg": [
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+    0.0015,
+    -0.0579
+   ],
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+   "usable": true
+  },
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+   "against": [
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+    "right_front",
+    "left_eye",
+    "left",
+    "right"
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+   "held_out_px_before": 1.501,
+   "inliers": 3808,
+   "position_fitted": false,
+   "position_rejected": {
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+     5.67,
+     9.16
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+    "position_split_mm": 7.923
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+    0.3506,
+    -0.5483
+   ],
+   "split_deg": 0.036,
+   "usable": true
+  },
+  "right_front": {
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+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+   "position_fitted": false,
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+    0.5133,
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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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+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "bd1f60085319103bdfa86bfe8cadf3b2083d6b3bf52fe99cebe76e32edfe1984",
+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "5370f645edad43134e0a4c93b368eccb02d6844b58bc902bd14924208bebcdca",
+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
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+  }
+ },
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+ "kind": "online_calibration",
+ "output_sha256": "bedfbe1c18c1e7af30cd04ac712c224eec7b230774000d650df6a287be675afd",
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+  "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": 39.937,
+  "left_front": 44.964,
+  "right": 38.662,
+  "right_eye": 39.943,
+  "right_front": 43.846
+ },
+ "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/L02/session_014/cameras/slam.npz b/actions/locomotion_primitives/L02/session_014/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7e355cbc164b14502459f6b2eec67da39f71545d
--- /dev/null
+++ b/actions/locomotion_primitives/L02/session_014/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b8893637184bcf4ea3578ea5ae054005392219dca39054e3d1b9983df44a22a
+size 883925
diff --git a/actions/locomotion_primitives/L02/session_014/meta.json b/actions/locomotion_primitives/L02/session_014/meta.json
index 92d194a754320ab46c6f31b9b995de4d5d7e441c..45435e6246a1c1f11ef9af1d6e873aa2e5b35dd8 100644
--- a/actions/locomotion_primitives/L02/session_014/meta.json
+++ b/actions/locomotion_primitives/L02/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": {
@@ -514,10 +514,124 @@
   "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": 12.59,
+    "offset_rotvec": [
+     -0.1225,
+     -0.182,
+     -0.0128
+    ],
+    "dev_deg": {
+     "median": 8.72,
+     "p90": 20.01
+    },
+    "samples": 4425,
+    "accepted": 4217,
+    "wrist_pos_err_mm_median": 41.0,
+    "per_camera": {
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+      "samples": 4425,
+      "accepted": 4217,
+      "gate_deg": 30.0,
+      "offset_deg": 12.59,
+      "tier": "primary",
+      "dev_deg_median": 8.72,
+      "wrist_pos_err_mm_median": 41.0
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 1130,
+     "mean_hand": 349,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9807,
+    "observed_fraction_of_valid": 0.9811,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.25,
+     "smplx": 1.17
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.0,
+      "p90": 11.7
+     },
+     "registered": {
+      "median": 10.4,
+      "p90": 12.6
+     }
+    }
+   },
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+     -0.0735,
+     0.125
+    ],
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+     "p90": 21.78
+    },
+    "samples": 4375,
+    "accepted": 4231,
+    "wrist_pos_err_mm_median": 48.9,
+    "per_camera": {
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+      "accepted": 4231,
+      "gate_deg": 30.0,
+      "offset_deg": 9.65,
+      "tier": "primary",
+      "dev_deg_median": 8.59,
+      "wrist_pos_err_mm_median": 48.9
+     }
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+    "frames_by_state": {
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+     "interpolated": 1404,
+     "mean_hand": 5,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9993,
+    "observed_fraction_of_valid": 0.9997,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 10.44,
+     "smplx": 1.07
+    },
+    "hand_marker_to_mesh_mm": {
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+      "median": 8.7,
+      "p90": 11.0
+     },
+     "registered": {
+      "median": 8.4,
+      "p90": 10.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T13:17:32.320489+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/L02/session_014",
   "family": "locomotion_primitives",
   "primitive": "L02",
   "source_session": "20260902/L02/20260902_024905_session22"
+ },
+ "task": {
+  "primitive": "L02",
+  "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
  }
 }
diff --git a/actions/locomotion_primitives/L02/session_014/motions/hands_mano.npz b/actions/locomotion_primitives/L02/session_014/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1b8eed82e3d1d3f468e6bcbca8f70b96e72914d1
--- /dev/null
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+++ b/actions/locomotion_primitives/L02/session_014/motions/smplx.npz
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new file mode 100644
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--- /dev/null
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@@ -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": "L02",
+ "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop.",
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+  }
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+ ]
+}
diff --git a/actions/locomotion_primitives/L02/session_015/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/L02/session_015/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5a95bb26ba5cc347dba9bb40c44f0afa455d928
--- /dev/null
+++ b/actions/locomotion_primitives/L02/session_015/cameras/gsi_online_calibration.json
@@ -0,0 +1,259 @@
+{
+ "camera_fit": {
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+  "groups_used": 15,
+  "median_px": 0.374
+ },
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
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+   "held_out_px_before": 6.643,
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+    0.8842,
+    0.2872
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+   "usable": true
+  },
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+    "left_front",
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+    "right_eye",
+    "left",
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+   "inliers": 3366,
+   "position_fitted": true,
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+    0.7669,
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
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+    -0.1077
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+    "right_front",
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+    "right"
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+    6.52,
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+    0.113,
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+    "right_eye",
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+   "held_out_px_before": 7.298,
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+    0.5038,
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+ },
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+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "219cb1246624918e6a61b97b00fafd100837c3cc35458d067a05ab974a749dae",
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+  },
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+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
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+  },
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+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "86233538b4ea805b",
+ "kind": "online_calibration",
+ "output_sha256": "0c3ef47e543d20566c9d3578115ebb9b436c70f9e4dce70349135434526ce2f1",
+ "overlap": {
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+  "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": 41.882,
+  "left_front": 56.142,
+  "right": 37.699,
+  "right_eye": 43.914,
+  "right_front": 52.268
+ },
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+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
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+ "segment": 1,
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+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/L02/session_015/cameras/slam.npz b/actions/locomotion_primitives/L02/session_015/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ce55002b54421404756f3b2c4c12ab364aa195a5
--- /dev/null
+++ b/actions/locomotion_primitives/L02/session_015/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cfc0f84cba1b7aba7aa6d9df6cfbe04cbe99e9d8ffa98452fb679a9cd3c2fce
+size 741739
diff --git a/actions/locomotion_primitives/L02/session_015/meta.json b/actions/locomotion_primitives/L02/session_015/meta.json
index 55c994fc96c77e2906cca8f9bb8fc4ff995e933c..794a71a82cc9c2a32b11cb7afd2da44d377cfcc2 100644
--- a/actions/locomotion_primitives/L02/session_015/meta.json
+++ b/actions/locomotion_primitives/L02/session_015/meta.json
@@ -332,8 +332,8 @@
   "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": {
+   "left": {
+    "offset_deg": 13.2,
+    "offset_rotvec": [
+     -0.1275,
+     -0.1917,
+     -0.0063
+    ],
+    "dev_deg": {
+     "median": 9.6,
+     "p90": 24.54
+    },
+    "samples": 3699,
+    "accepted": 3498,
+    "wrist_pos_err_mm_median": 38.9,
+    "per_camera": {
+     "head": {
+      "samples": 3699,
+      "accepted": 3498,
+      "gate_deg": 30.0,
+      "offset_deg": 13.2,
+      "tier": "primary",
+      "dev_deg_median": 9.6,
+      "wrist_pos_err_mm_median": 38.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14104,
+     "interpolated": 976,
+     "mean_hand": 404,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9739,
+    "observed_fraction_of_valid": 0.9739,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 14.09,
+     "smplx": 1.41
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.5,
+      "p90": 7.9
+     },
+     "registered": {
+      "median": 7.4,
+      "p90": 8.6
+     }
+    }
+   },
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+     0.1139
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+    "dev_deg": {
+     "median": 9.05,
+     "p90": 22.53
+    },
+    "samples": 3580,
+    "accepted": 3428,
+    "wrist_pos_err_mm_median": 42.9,
+    "per_camera": {
+     "head": {
+      "samples": 3580,
+      "accepted": 3428,
+      "gate_deg": 30.0,
+      "offset_deg": 8.82,
+      "tier": "primary",
+      "dev_deg_median": 9.05,
+      "wrist_pos_err_mm_median": 42.9
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 1604,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9992,
+    "observed_fraction_of_valid": 0.9992,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 10.77,
+     "smplx": 1.12
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 4.9,
+      "p90": 8.0
+     },
+     "registered": {
+      "median": 5.2,
+      "p90": 8.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T13:17:30.642007+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/L02/session_015",
   "family": "locomotion_primitives",
   "primitive": "L02",
   "source_session": "20260902/L02/20260902_025151_session23"
+ },
+ "task": {
+  "primitive": "L02",
+  "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
  }
 }
diff --git a/actions/locomotion_primitives/L02/session_015/motions/hands_mano.npz b/actions/locomotion_primitives/L02/session_015/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..39c08ac5c7edd6d1522dcb47cf125f56abea1a12
--- /dev/null
+++ b/actions/locomotion_primitives/L02/session_015/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf7d28dfc381d8b590fbeb0c146c5973efa49d5e0bd00adb445400f55c821383
+size 4929714
diff --git a/actions/locomotion_primitives/L02/session_015/motions/smplx.npz b/actions/locomotion_primitives/L02/session_015/motions/smplx.npz
index 0e7b047b8f2ed692862147a88213811fcc97eee7..3a2cc4d3c2a2118764396dbeb8d0105354924516 100644
--- a/actions/locomotion_primitives/L02/session_015/motions/smplx.npz
+++ b/actions/locomotion_primitives/L02/session_015/motions/smplx.npz
@@ -1,3 +1,3 @@
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-oid sha256:2fbe3bd2f3fc231fb316175b32cec21432b7ddbfe217bdb18b6231355192449c
-size 5964006
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+size 11110223
diff --git a/actions/locomotion_primitives/L03/session_001/annotations.json b/actions/locomotion_primitives/L03/session_001/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ffede97fb19c18a97ee95a7964688ea3a8256fb
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_001/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": "L03",
+ "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 253.9665,
+   "video": "left_eye",
+   "video_t_start": 0.039181339618412414
+  }
+ ],
+ "episodes": [
+  {
+   "id": "c1dcdb25-f19c-4553-9256-f81242f7d4a1",
+   "segment": "segment1",
+   "action": "L03",
+   "quality": "valid",
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+   "end_s": 14.951,
+   "t_start": 1.1282,
+   "t_end": 14.9902,
+   "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop."
+  },
+  {
+   "id": "add426e6-cf6b-4f39-a893-62db5439b67a",
+   "segment": "segment1",
+   "action": "L03",
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+   "start_s": 25.026,
+   "end_s": 39.409,
+   "t_start": 25.0652,
+   "t_end": 39.4482,
+   "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop."
+  },
+  {
+   "id": "19c0a913-f8f4-4ccc-83a3-caf06d3e1cc4",
+   "segment": "segment1",
+   "action": "L03",
+   "quality": "valid",
+   "start_s": 50.012,
+   "end_s": 65.173,
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/L03/session_001/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/L03/session_001/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab96256af23256082e13049168261ea9fd0462f1
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_001/cameras/gsi_online_calibration.json
@@ -0,0 +1,268 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 170,
+    "median_px": 36.13,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.382
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.836,
+   "gate_fail": [],
+   "held_out_px_after": 0.618,
+   "held_out_px_before": 6.057,
+   "inliers": 2352,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.0473,
+    0.8212,
+    0.149
+   ],
+   "split_deg": 0.0891,
+   "usable": true
+  },
+  "left_eye": {
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+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+   "held_out_px_before": 4.238,
+   "inliers": 3541,
+   "position_fitted": true,
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+    0.0105,
+    0.8195,
+    -0.9077
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+   "usable": true
+  },
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+   "role": "rig origin"
+  },
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+   "inliers": 1606,
+   "position_fitted": false,
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+    0.3564,
+    -0.2212,
+    -0.0392
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+   "usable": true
+  },
+  "right_eye": {
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
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+   "held_out_px_before": 1.596,
+   "inliers": 3750,
+   "position_fitted": true,
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+    4.33,
+    10.16
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+   "rotvec_deg": [
+    0.1247,
+    0.4026,
+    -0.7237
+   ],
+   "split_deg": 0.0432,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+   "position_fitted": false,
+   "rotvec_deg": [
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+    0.4819,
+    -1.775
+   ],
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+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
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+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
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+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
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+   "sha256": "5b04ca5d19d56c60e0a097fcc29f194632357948c66bfbde755d72ee742ce3bc",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "f3ecd5eb8db5cc83",
+ "kind": "online_calibration",
+ "output_sha256": "601e3369c55f03dbc74aefe75316c66cda789c71a39da9b92ffeb885ee2b2c19",
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+  "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": 46.542,
+  "left_eye": 42.481,
+  "left_front": 40.853,
+  "right": 37.516,
+  "right_eye": 43.159,
+  "right_front": 42.925
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
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+   9242055508222,
+   9243055519333
+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/L03/session_001/cameras/slam.npz b/actions/locomotion_primitives/L03/session_001/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e27656d24eef8d0fb8ddef5e6fa9e0c294b1e117
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_001/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6672e7111663239ecfd6d00a3d9f741ac02c46e75e2107481134fe87d4465687
+size 1458084
diff --git a/actions/locomotion_primitives/L03/session_001/meta.json b/actions/locomotion_primitives/L03/session_001/meta.json
index 511d717020d57790b92c4dafe67cccc10b986a32..7509e1c6fb5ccc05b9334eca10d3b9c3ba13cdb1 100644
--- a/actions/locomotion_primitives/L03/session_001/meta.json
+++ b/actions/locomotion_primitives/L03/session_001/meta.json
@@ -360,8 +360,8 @@
   "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": {
@@ -611,10 +611,124 @@
   "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": 10.88,
+    "offset_rotvec": [
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+     -0.0963,
+     0.0311
+    ],
+    "dev_deg": {
+     "median": 9.69,
+     "p90": 31.53
+    },
+    "samples": 7276,
+    "accepted": 6472,
+    "wrist_pos_err_mm_median": 51.2,
+    "per_camera": {
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+      "accepted": 6472,
+      "gate_deg": 30.0,
+      "offset_deg": 10.88,
+      "tier": "primary",
+      "dev_deg_median": 9.69,
+      "wrist_pos_err_mm_median": 51.2
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 1802,
+     "mean_hand": 2664,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9126,
+    "observed_fraction_of_valid": 0.9126,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 10.85,
+     "smplx": 1.74
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 11.6
+     },
+     "registered": {
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+      "p90": 11.3
+     }
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+    "accepted": 6630,
+    "wrist_pos_err_mm_median": 48.8,
+    "per_camera": {
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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": 1.47
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 11.6
+     },
+     "registered": {
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+      "p90": 11.6
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T13:08:20.819593+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/L03/session_001",
   "family": "locomotion_primitives",
   "primitive": "L03",
   "source_session": "20260901/L03/20260901_075454_session26"
+ },
+ "task": {
+  "primitive": "L03",
+  "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop."
  }
 }
diff --git a/actions/locomotion_primitives/L03/session_001/motions/hands_mano.npz b/actions/locomotion_primitives/L03/session_001/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5ec4ae45de6adcdbd681929421d3601373844504
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_001/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f93dd623097ce86b6889f8dfcded62f250eb5077f0c147e8a171a1030913b4ce
+size 9764046
diff --git a/actions/locomotion_primitives/L03/session_001/motions/smplx.npz b/actions/locomotion_primitives/L03/session_001/motions/smplx.npz
index 6e911445c37686844a44fd7445d14e1ea9664a0a..99032f9b5956e85fa7c21d17a1bcea3f20af5da6 100644
--- a/actions/locomotion_primitives/L03/session_001/motions/smplx.npz
+++ b/actions/locomotion_primitives/L03/session_001/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:eb486f61295b6e8e0c3251c385e548ded27d3a6abb1e79ec935472afedeae616
-size 11741559
+oid sha256:2733506580a8163e73766323d87152457920f03608340542c824513a53de908a
+size 21568852
diff --git a/actions/locomotion_primitives/L03/session_002/annotations.json b/actions/locomotion_primitives/L03/session_002/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cc5e0c4d4e930a2ad42d33186e3645b2ea866ad
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_002/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": "L03",
+ "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop.",
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+   "video": "left_eye",
+   "video_t_start": 0.03862966525809508
+  }
+ ],
+ "episodes": [
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+   "segment": "segment1",
+   "action": "L03",
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+   "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop."
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+  },
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+   "segment": "segment1",
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/L03/session_002/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/L03/session_002/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..8887817398bd4c45397a91671c934fe4c65e1b62
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_002/cameras/gsi_online_calibration.json
@@ -0,0 +1,266 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 167,
+    "median_px": 23.52,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.371
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.8798,
+   "gate_fail": [],
+   "held_out_px_after": 0.636,
+   "held_out_px_before": 6.063,
+   "inliers": 2191,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.0068,
+    0.8646,
+    0.1627
+   ],
+   "split_deg": 0.03,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.2122,
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+   "held_out_px_after": 0.379,
+   "held_out_px_before": 4.285,
+   "inliers": 3639,
+   "position_fitted": true,
+   "position_mm": [
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+    7.66,
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+   "rotvec_deg": [
+    0.0624,
+    0.8161,
+    -0.8942
+   ],
+   "split_deg": 0.0343,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+   "inliers": 1733,
+   "position_fitted": false,
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+    0.4609,
+    -0.1648,
+    0.0471
+   ],
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+   "usable": true
+  },
+  "right_eye": {
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
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+   "inliers": 3949,
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+    8.32,
+    9.86
+   ],
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+    0.2054,
+    0.3816,
+    -0.7088
+   ],
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+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+    -0.3553,
+    0.5001,
+    -1.7796
+   ],
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+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
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+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
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+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
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+  },
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+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "8eab3b1e4e96c3d9",
+ "kind": "online_calibration",
+ "output_sha256": "bad85ed9ec1d88cd21b00c0619d418256c6ad73eaf71a942b1a123a50419f53c",
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+  "left_front-right": 0.464,
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+  "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": 44.647,
+  "left_front": 48.015,
+  "right": 38.304,
+  "right_eye": 43.896,
+  "right_front": 49.214
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
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+   9501514542111,
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+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/L03/session_002/cameras/slam.npz b/actions/locomotion_primitives/L03/session_002/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b47d3cdc5733747b0578b10e05710e6d8b4f6cdf
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_002/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe1b0b0d1b321a607ede03259fed7bdee4437a7b4f4980b50324beb1a58acbf9
+size 1428507
diff --git a/actions/locomotion_primitives/L03/session_002/meta.json b/actions/locomotion_primitives/L03/session_002/meta.json
index 9071e8b0bdd4f05dc15143d4a002b92d3692c287..747e43f66246663d5b7a233629c7574d4941dc47 100644
--- a/actions/locomotion_primitives/L03/session_002/meta.json
+++ b/actions/locomotion_primitives/L03/session_002/meta.json
@@ -334,8 +334,8 @@
   "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": {
@@ -562,10 +562,124 @@
   "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": 10.3,
+    "offset_rotvec": [
+     -0.1173,
+     -0.1361,
+     -0.0034
+    ],
+    "dev_deg": {
+     "median": 10.03,
+     "p90": 31.61
+    },
+    "samples": 6986,
+    "accepted": 6161,
+    "wrist_pos_err_mm_median": 61.4,
+    "per_camera": {
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+      "accepted": 6161,
+      "gate_deg": 30.0,
+      "offset_deg": 10.3,
+      "tier": "primary",
+      "dev_deg_median": 10.03,
+      "wrist_pos_err_mm_median": 61.4
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 3658,
+     "mean_hand": 1316,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.956,
+    "observed_fraction_of_valid": 0.956,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 11.36,
+     "smplx": 2.46
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.2,
+      "p90": 12.2
+     },
+     "registered": {
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+     }
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+   },
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+    "accepted": 6505,
+    "wrist_pos_err_mm_median": 43.6,
+    "per_camera": {
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+      "accepted": 6505,
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+      "tier": "primary",
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+     "interpolated": 3168,
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+     "no_body_fit": 0
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+    "palm_axis_vs_markers_deg": {
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+     "smplx": 1.58
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 11.9
+     },
+     "registered": {
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+      "p90": 11.9
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T13:08:18.726385+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/L03/session_002",
   "family": "locomotion_primitives",
   "primitive": "L03",
   "source_session": "20260901/L03/20260901_075920_session27"
+ },
+ "task": {
+  "primitive": "L03",
+  "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop."
  }
 }
diff --git a/actions/locomotion_primitives/L03/session_002/motions/hands_mano.npz b/actions/locomotion_primitives/L03/session_002/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b79d537ff4b740b29a85ecdde0d3de5802e4ed01
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_002/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bba1ba5ec1fd227a6450992518eeaf5f60e8421747f97238336cc53ce846e0c
+size 9493866
diff --git a/actions/locomotion_primitives/L03/session_002/motions/smplx.npz b/actions/locomotion_primitives/L03/session_002/motions/smplx.npz
index 42e8fd743f9a44ce48ae2b6cdfd1a649164c3103..200e855f945e0d1d3a1f92dbe1b5b30f5ef36f6c 100644
--- a/actions/locomotion_primitives/L03/session_002/motions/smplx.npz
+++ b/actions/locomotion_primitives/L03/session_002/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 11534285
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diff --git a/actions/locomotion_primitives/L03/session_003/annotations.json b/actions/locomotion_primitives/L03/session_003/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e1154d5c79eab53e5625cedc03c4d684fd05acd
--- /dev/null
+++ b/actions/locomotion_primitives/L03/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": "L03",
+ "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop.",
+ "segments": [
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+   "duration_s": 148.966778,
+   "video": "left_eye",
+   "video_t_start": 0.03874276169865709
+  }
+ ],
+ "episodes": [
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+   "end_s": 145.175,
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+   "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/L03/session_003/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/L03/session_003/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..80c4eb15bc3899cea90aa322087e638b470997cf
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_003/cameras/gsi_online_calibration.json
@@ -0,0 +1,264 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
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+    "median_px": 115.92,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.378
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+   "held_out_px_before": 6.439,
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+   "rotvec_deg": [
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+    0.8152,
+    0.273
+   ],
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+   "usable": true
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+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
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+    0.7819,
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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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+    -0.014
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+  },
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+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
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+    0.4023,
+    -0.6782
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+   "usable": true
+  },
+  "right_front": {
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+    "left_eye",
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+    "left",
+    "right"
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+   "usable": true
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+ },
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+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
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+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
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+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
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+  },
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+  }
+ },
+ "input_fingerprint": "326d880a797d5ed6",
+ "kind": "online_calibration",
+ "output_sha256": "711e96ce9072e4c814179e3bb25090a7c6bee07dd53c19501c6a282a4901f5d2",
+ "overlap": {
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+  "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": 45.719,
+  "left_eye": 39.393,
+  "left_front": 44.445,
+  "right": 45.064,
+  "right_eye": 41.476,
+  "right_front": 45.688
+ },
+ "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/L03/session_003/cameras/slam.npz b/actions/locomotion_primitives/L03/session_003/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c58b8c8279c1582fd9c7e667891924f34a0268da
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_003/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1d35f0c2b698b3ab6b63e9c18fc95246a4750dff40daaf0714c4d3a6470985c
+size 855492
diff --git a/actions/locomotion_primitives/L03/session_003/meta.json b/actions/locomotion_primitives/L03/session_003/meta.json
index be70300858290d0c19f0f714f7828ac17c180e90..2f9ab0650b7c51813a574349e7f831c8a5f0de41 100644
--- a/actions/locomotion_primitives/L03/session_003/meta.json
+++ b/actions/locomotion_primitives/L03/session_003/meta.json
@@ -348,8 +348,8 @@
   "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": {
@@ -588,10 +588,124 @@
   "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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+     -0.126,
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+     "p90": 28.03
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+    "accepted": 3887,
+    "wrist_pos_err_mm_median": 52.5,
+    "per_camera": {
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+      "accepted": 3887,
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+      "offset_deg": 13.03,
+      "tier": "primary",
+      "dev_deg_median": 10.95,
+      "wrist_pos_err_mm_median": 52.5
+     }
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+     "interpolated": 1390,
+     "mean_hand": 593,
+     "no_body_fit": 260
+    },
+    "observed_fraction": 0.9523,
+    "observed_fraction_of_valid": 0.9664,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": NaN
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": NaN
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+    "accepted": 3803,
+    "wrist_pos_err_mm_median": 52.6,
+    "per_camera": {
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+      "tier": "primary",
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+    "palm_axis_vs_markers_deg": {
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+     "smplx": 1.33
+    },
+    "hand_marker_to_mesh_mm": {
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+     },
+     "registered": {
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+      "p90": 13.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T13:08:11.823055+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/L03/session_003",
   "family": "locomotion_primitives",
   "primitive": "L03",
   "source_session": "20260901/L03/20260901_081535_session29"
+ },
+ "task": {
+  "primitive": "L03",
+  "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop."
  }
 }
diff --git a/actions/locomotion_primitives/L03/session_003/motions/hands_mano.npz b/actions/locomotion_primitives/L03/session_003/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..746f7ad8cf9ce7f4300448f56b35a98a80312314
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_003/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:349ddfce06dbf9ce40f5ef52d17c775e74e5c68b3dfcaf13d7132e184cd5fdfc
+size 5701164
diff --git a/actions/locomotion_primitives/L03/session_003/motions/smplx.npz b/actions/locomotion_primitives/L03/session_003/motions/smplx.npz
index 44f24b01caa565cd58bc8f81154fb94da69dc19c..ce676263b3a7e257e0602672162325158d3cc718 100644
--- a/actions/locomotion_primitives/L03/session_003/motions/smplx.npz
+++ b/actions/locomotion_primitives/L03/session_003/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 6796288
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diff --git a/actions/locomotion_primitives/L03/session_004/annotations.json b/actions/locomotion_primitives/L03/session_004/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fb74caf802491ed74505a5dbda4e89fcc854787
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_004/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": "L03",
+ "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop.",
+ "segments": [
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+   "video": "left_eye",
+   "video_t_start": 0.03881466075245754
+  }
+ ],
+ "episodes": [
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+  },
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+   "segment": "segment1",
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+   "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/L03/session_004/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/L03/session_004/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..f70733c29db26217f19cad4bba7632523085d679
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_004/cameras/gsi_online_calibration.json
@@ -0,0 +1,266 @@
+{
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+    ]
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+  "median_px": 0.388
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
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+  },
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+    "left_front",
+    "right_front",
+    "left_eye",
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+    "left",
+    "right"
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+    3.54,
+    9.21
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+  },
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+    "left",
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+  "right_front-left_eye": 0.711,
+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
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+  "left_front": 49.956,
+  "right": 43.663,
+  "right_eye": 50.463,
+  "right_front": 52.03
+ },
+ "runtime": {
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+  "opencv": "5.0.0",
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+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/L03/session_004/cameras/slam.npz b/actions/locomotion_primitives/L03/session_004/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7cb2e3c07bcadd8a6578691a0c6213c77700f30d
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_004/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0725c686f5167c4d08e75677117db06f3349d51c973fc1498f942ec7fc5c6111
+size 941481
diff --git a/actions/locomotion_primitives/L03/session_004/meta.json b/actions/locomotion_primitives/L03/session_004/meta.json
index 3c778433d5b7e6b5a48c192f944432355eaa3d29..08f86285fffa5a1274458181111fcd8d5677151f 100644
--- a/actions/locomotion_primitives/L03/session_004/meta.json
+++ b/actions/locomotion_primitives/L03/session_004/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": {
@@ -529,10 +529,124 @@
   "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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+    "accepted": 4159,
+    "wrist_pos_err_mm_median": 52.8,
+    "per_camera": {
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+      "accepted": 4159,
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+      "tier": "primary",
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+     }
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+     "interpolated": 2014,
+     "mean_hand": 725,
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+    "palm_axis_vs_markers_deg": {
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+    },
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+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  ],
+  "generated_at_utc": "2026-11-03T13:08:22.032579+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/L03/session_004",
   "family": "locomotion_primitives",
   "primitive": "L03",
   "source_session": "20260901/L03/20260901_081816_session30"
+ },
+ "task": {
+  "primitive": "L03",
+  "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop."
  }
 }
diff --git a/actions/locomotion_primitives/L03/session_004/motions/hands_mano.npz b/actions/locomotion_primitives/L03/session_004/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b25c7f7deba47fd2e05f5e4f4b1f8583349618fa
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_004/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b00f4e4bb456a0b1dd20ab4d8770afd6c269643bf6f232ec1237042dbcf637eb
+size 6224999
diff --git a/actions/locomotion_primitives/L03/session_004/motions/smplx.npz b/actions/locomotion_primitives/L03/session_004/motions/smplx.npz
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--- a/actions/locomotion_primitives/L03/session_004/motions/smplx.npz
+++ b/actions/locomotion_primitives/L03/session_004/motions/smplx.npz
@@ -1,3 +1,3 @@
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-oid sha256:b896da41308c6bdc4ba5682e5f19476dbedec056727a556ec2d4228395bc258b
-size 7517944
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diff --git a/actions/locomotion_primitives/L03/session_005/annotations.json b/actions/locomotion_primitives/L03/session_005/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..867404cf9f589efc087f6b80cb67dff3cc2a61e7
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_005/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": "L03",
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+   "video": "left_eye",
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+  }
+ ],
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/L03/session_005/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/L03/session_005/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..b861bb0208e9e753076ff75537075387f696d89c
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_005/cameras/gsi_online_calibration.json
@@ -0,0 +1,265 @@
+{
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+ },
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+    "right_front",
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+   "rotvec_deg": [
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+    0.78,
+    0.189
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+   "usable": true
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+   "against": [
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+}
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diff --git a/actions/locomotion_primitives/L03/session_005/cameras/slam.npz b/actions/locomotion_primitives/L03/session_005/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bd5431363a596c4040ea91635a91b913082c50ea
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_005/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1027887
diff --git a/actions/locomotion_primitives/L03/session_005/meta.json b/actions/locomotion_primitives/L03/session_005/meta.json
index 605fd566db668b2d2dbb4c06f6df92952ccfbb14..6ed488cb9aa319a86117b467cafd0187edb424d8 100644
--- a/actions/locomotion_primitives/L03/session_005/meta.json
+++ b/actions/locomotion_primitives/L03/session_005/meta.json
@@ -332,8 +332,8 @@
   "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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     "left": {
@@ -514,10 +514,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
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+  "cameras_used": [
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+  "generated_at_utc": "2026-11-03T13:08:58.849607+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": "L03",
   "source_session": "20260901/L03/20260901_082110_session31"
+ },
+ "task": {
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  }
 }
diff --git a/actions/locomotion_primitives/L03/session_005/motions/hands_mano.npz b/actions/locomotion_primitives/L03/session_005/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0d04303cefb59557e75cbe9f00e8a0ba49ff15f7
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 6818001
diff --git a/actions/locomotion_primitives/L03/session_005/motions/smplx.npz b/actions/locomotion_primitives/L03/session_005/motions/smplx.npz
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--- a/actions/locomotion_primitives/L03/session_005/motions/smplx.npz
+++ b/actions/locomotion_primitives/L03/session_005/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",
+ "primitive": "L03",
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/L03/session_006/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/L03/session_006/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa0dfc407e05b0435d3ef70ae4eb230290ab0034
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_006/cameras/gsi_online_calibration.json
@@ -0,0 +1,265 @@
+{
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+    3.5,
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+  "right_front-left_eye": 0.711,
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+  "right_front-right_eye": 0.724
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+  "left_eye": 43.618,
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+  "right": 41.845,
+  "right_eye": 47.592,
+  "right_front": 55.095
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+ "runtime": {
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+  "opencv": "5.0.0",
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+ },
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+}
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new file mode 100644
index 0000000000000000000000000000000000000000..a4e2fca9ec216cf12201653eea8844401bdb6f13
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_006/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff20515648d4f7ab7d46373a1459f86e022b46ca73cd25e0ada771b56561c6fa
+size 1001886
diff --git a/actions/locomotion_primitives/L03/session_006/meta.json b/actions/locomotion_primitives/L03/session_006/meta.json
index 64d38d94cb513098d0be49fc667ae9e40a1fa192..d7af771ad2bd3cb0ae9b48cc1d12c36ad33ef302 100644
--- a/actions/locomotion_primitives/L03/session_006/meta.json
+++ b/actions/locomotion_primitives/L03/session_006/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": {
@@ -555,10 +555,124 @@
   "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": 33.46
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+    "accepted": 4155,
+    "wrist_pos_err_mm_median": 59.6,
+    "per_camera": {
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+      "tier": "primary",
+      "dev_deg_median": 10.47,
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+     "interpolated": 1614,
+     "mean_hand": 2584,
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+    "observed_fraction_of_valid": 0.8766,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 2.8
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+    "hand_marker_to_mesh_mm": {
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+      "tier": "primary",
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+    },
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+     },
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+     }
+    }
+   }
+  },
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+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  ],
+  "generated_at_utc": "2026-11-03T13:10:17.154179+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/L03/session_006",
   "family": "locomotion_primitives",
   "primitive": "L03",
   "source_session": "20260901/L03/20260901_082419_session32"
+ },
+ "task": {
+  "primitive": "L03",
+  "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop."
  }
 }
diff --git a/actions/locomotion_primitives/L03/session_006/motions/hands_mano.npz b/actions/locomotion_primitives/L03/session_006/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7202ceddc8b83e31cdf5b419ce8847a78767e1f1
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 6539778
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--- a/actions/locomotion_primitives/L03/session_006/motions/smplx.npz
+++ b/actions/locomotion_primitives/L03/session_006/motions/smplx.npz
@@ -1,3 +1,3 @@
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new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_007/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": "L03",
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/L03/session_007/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/L03/session_007/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..b212e123ec8a2ac3da16d63b1461ea10df126e1f
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_007/cameras/gsi_online_calibration.json
@@ -0,0 +1,265 @@
+{
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+ },
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+  "right_front": 50.113
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diff --git a/actions/locomotion_primitives/L03/session_007/cameras/slam.npz b/actions/locomotion_primitives/L03/session_007/cameras/slam.npz
new file mode 100644
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@@ -0,0 +1,3 @@
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diff --git a/actions/locomotion_primitives/L03/session_007/meta.json b/actions/locomotion_primitives/L03/session_007/meta.json
index cd8fc4cbe4ce38aba2a09b9f09053b3b96e5ee3e..0479e8f0604fae99a54659948863b315bf3f7fe8 100644
--- a/actions/locomotion_primitives/L03/session_007/meta.json
+++ b/actions/locomotion_primitives/L03/session_007/meta.json
@@ -347,8 +347,8 @@
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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)",
+   "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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     "left": {
@@ -529,10 +529,124 @@
   "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_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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   "source_session": "20260901/L03/20260901_082724_session33"
+ },
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+  "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop."
  }
 }
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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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+{
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+ "source": "vendor annotation.json (schema 2, revision 1)",
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+ ]
+}
diff --git a/actions/locomotion_primitives/L03/session_008/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/L03/session_008/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1b4ccb2fe5cbe52a51d7096240b9144f03d8d8f
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_008/cameras/gsi_online_calibration.json
@@ -0,0 +1,266 @@
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+  },
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+  "right_eye-right": 0.668,
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+  "right_front-left_eye": 0.711,
+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
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+  "left_front": 50.169,
+  "right": 39.709,
+  "right_eye": 49.072,
+  "right_front": 52.298
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
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+ "selection": {
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+}
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diff --git a/actions/locomotion_primitives/L03/session_008/cameras/slam.npz b/actions/locomotion_primitives/L03/session_008/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cdb2ac1ea0c07e6b1a46451b0e467705debf45a3
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_008/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c19f0f8f337194e64ca591a9c503808cbf9f30285971b74825caf0b513309b79
+size 1199906
diff --git a/actions/locomotion_primitives/L03/session_008/meta.json b/actions/locomotion_primitives/L03/session_008/meta.json
index 0ccfd57b86f68f45dc51bfe716ffa73be47abf60..eec4d8d0eb38493992271bbc11cea54b2f0997fa 100644
--- a/actions/locomotion_primitives/L03/session_008/meta.json
+++ b/actions/locomotion_primitives/L03/session_008/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": {
@@ -575,10 +575,124 @@
   "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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+     -0.1141,
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+    "accepted": 4972,
+    "wrist_pos_err_mm_median": 56.1,
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+      "accepted": 4972,
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+      "offset_deg": 9.69,
+      "tier": "primary",
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+    "palm_axis_vs_markers_deg": {
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+     }
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+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  ],
+  "generated_at_utc": "2026-11-03T13:11:37.828480+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": "L03",
   "source_session": "20260901/L03/20260901_083035_session34"
+ },
+ "task": {
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+  "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop."
  }
 }
diff --git a/actions/locomotion_primitives/L03/session_008/motions/hands_mano.npz b/actions/locomotion_primitives/L03/session_008/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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+size 7735558
diff --git a/actions/locomotion_primitives/L03/session_008/motions/smplx.npz b/actions/locomotion_primitives/L03/session_008/motions/smplx.npz
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--- a/actions/locomotion_primitives/L03/session_008/motions/smplx.npz
+++ b/actions/locomotion_primitives/L03/session_008/motions/smplx.npz
@@ -1,3 +1,3 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..6030840195abf144af1a8b18695303e104bc0571
--- /dev/null
+++ b/actions/locomotion_primitives/L03/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": "L03",
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+  }
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+ ]
+}
diff --git a/actions/locomotion_primitives/L03/session_009/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/L03/session_009/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..1615b243ddeda122c81f1bf7207b62d30e6b2c1a
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_009/cameras/gsi_online_calibration.json
@@ -0,0 +1,265 @@
+{
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+ },
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+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
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+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
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+  },
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+  "right_front-left_eye": 0.711,
+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
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+  "left_front": 50.731,
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+  "right_eye": 49.223,
+  "right_front": 52.643
+ },
+ "runtime": {
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+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
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+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/L03/session_009/cameras/slam.npz b/actions/locomotion_primitives/L03/session_009/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..66f421d682acf46d33f89417fae3110f2ecdc90f
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_009/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0491d7f7603ecaecef2ba402586c7f2861ad3f630c2e1a61f9f1639449d76938
+size 1055043
diff --git a/actions/locomotion_primitives/L03/session_009/meta.json b/actions/locomotion_primitives/L03/session_009/meta.json
index 30e123f1d4ab7067986ecc3892fec77bebb703d9..4b4fd0d921d4b4776b13706494574ff524c704f2 100644
--- a/actions/locomotion_primitives/L03/session_009/meta.json
+++ b/actions/locomotion_primitives/L03/session_009/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": {
@@ -528,10 +528,124 @@
   "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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+     -0.1152,
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+     "p90": 30.02
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+    "accepted": 4650,
+    "wrist_pos_err_mm_median": 59.2,
+    "per_camera": {
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+      "accepted": 4650,
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+      "offset_deg": 9.13,
+      "tier": "primary",
+      "dev_deg_median": 9.7,
+      "wrist_pos_err_mm_median": 59.2
+     }
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+     "interpolated": 2040,
+     "mean_hand": 1272,
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+    "observed_fraction_of_valid": 0.9424,
+    "palm_axis_vs_markers_deg": {
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+      "p90": 11.8
+     }
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+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  ],
+  "generated_at_utc": "2026-11-03T13:11:34.825386+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": "L03",
   "source_session": "20260901/L03/20260901_083417_session35"
+ },
+ "task": {
+  "primitive": "L03",
+  "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop."
  }
 }
diff --git a/actions/locomotion_primitives/L03/session_009/motions/hands_mano.npz b/actions/locomotion_primitives/L03/session_009/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b51bc08b2d0e448bccd8b499f77ed761f6d30b6e
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:858cff4999f26be0b9ec410627d8105e25f67d6fe8f41be435aee01209431606
+size 6783228
diff --git a/actions/locomotion_primitives/L03/session_009/motions/smplx.npz b/actions/locomotion_primitives/L03/session_009/motions/smplx.npz
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--- a/actions/locomotion_primitives/L03/session_009/motions/smplx.npz
+++ b/actions/locomotion_primitives/L03/session_009/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 8491605
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diff --git a/actions/locomotion_primitives/L03/session_010/annotations.json b/actions/locomotion_primitives/L03/session_010/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c42b3ff9bc1ce324d415918800e0486b380465f
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_010/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": "L03",
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+ ]
+}
diff --git a/actions/locomotion_primitives/L03/session_010/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/L03/session_010/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..41d8513e65ec3a66b6329576a4e5bbce3c5663a0
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_010/cameras/gsi_online_calibration.json
@@ -0,0 +1,264 @@
+{
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+  },
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+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
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+}
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diff --git a/actions/locomotion_primitives/L03/session_010/cameras/slam.npz b/actions/locomotion_primitives/L03/session_010/cameras/slam.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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diff --git a/actions/locomotion_primitives/L03/session_010/meta.json b/actions/locomotion_primitives/L03/session_010/meta.json
index 9cb39de9a14299c640e36b911be2ebb6d4aa498b..0730abf21a63d75067122d4082d94edb464ac0d9 100644
--- a/actions/locomotion_primitives/L03/session_010/meta.json
+++ b/actions/locomotion_primitives/L03/session_010/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",
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     "left": {
@@ -528,10 +528,124 @@
   "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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+  "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": "L03",
   "source_session": "20260901/L03/20260901_083732_session36"
+ },
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+  "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop."
  }
 }
diff --git a/actions/locomotion_primitives/L03/session_010/motions/hands_mano.npz b/actions/locomotion_primitives/L03/session_010/motions/hands_mano.npz
new file mode 100644
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--- /dev/null
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+++ b/actions/locomotion_primitives/L03/session_010/motions/smplx.npz
@@ -1,3 +1,3 @@
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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)",
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+ ]
+}
diff --git a/actions/locomotion_primitives/L03/session_011/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/L03/session_011/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bf05146ca1e97f86430ffc0587af656cd349ff1
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_011/cameras/gsi_online_calibration.json
@@ -0,0 +1,267 @@
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diff --git a/actions/locomotion_primitives/L03/session_011/cameras/slam.npz b/actions/locomotion_primitives/L03/session_011/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..87033ec26c8f752dffdb13112bbe764b92bd7b24
--- /dev/null
+++ b/actions/locomotion_primitives/L03/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/L03/session_011/meta.json b/actions/locomotion_primitives/L03/session_011/meta.json
index 03c6bb5b6bf5e86254d74c1ab76c7415553761aa..f03e77003a963e4a726543cf4e22ac0b33e9372b 100644
--- a/actions/locomotion_primitives/L03/session_011/meta.json
+++ b/actions/locomotion_primitives/L03/session_011/meta.json
@@ -346,8 +346,8 @@
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   "hands": {
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-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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@@ -528,10 +528,124 @@
   "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": "2026-11-03T13:11:25.226223+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",
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   "source_session": "20260901/L03/20260901_084030_session37"
+ },
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  }
 }
diff --git a/actions/locomotion_primitives/L03/session_011/motions/hands_mano.npz b/actions/locomotion_primitives/L03/session_011/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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@@ -0,0 +1,72 @@
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+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "L03",
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+}
diff --git a/actions/locomotion_primitives/L03/session_012/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/L03/session_012/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..74563b8ccc7607dce379a782c2ea9cda58cc7c77
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_012/cameras/gsi_online_calibration.json
@@ -0,0 +1,263 @@
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+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
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+}
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diff --git a/actions/locomotion_primitives/L03/session_012/cameras/slam.npz b/actions/locomotion_primitives/L03/session_012/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8c897e04baa8c9c6dd02b0750435b328095ac037
--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/actions/locomotion_primitives/L03/session_012/meta.json b/actions/locomotion_primitives/L03/session_012/meta.json
index cc39d2517902eab0ff1fb0d2841e455fa6df2999..6c53c4b706c780b6138c442de53c6fa65a3be353 100644
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+++ b/actions/locomotion_primitives/L03/session_012/meta.json
@@ -349,8 +349,8 @@
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   "hands": {
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-   "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 @@
   "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": 12.93,
+    "offset_rotvec": [
+     -0.1727,
+     -0.1452,
+     0.0009
+    ],
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+     "p90": 17.65
+    },
+    "samples": 3632,
+    "accepted": 3484,
+    "wrist_pos_err_mm_median": 37.5,
+    "per_camera": {
+     "head": {
+      "samples": 3632,
+      "accepted": 3484,
+      "gate_deg": 30.0,
+      "offset_deg": 12.93,
+      "tier": "primary",
+      "dev_deg_median": 9.32,
+      "wrist_pos_err_mm_median": 37.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14016,
+     "interpolated": 816,
+     "mean_hand": 315,
+     "no_body_fit": 337
+    },
+    "observed_fraction": 0.9579,
+    "observed_fraction_of_valid": 0.9792,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.94,
+     "smplx": 1.83
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.0,
+      "p90": 7.4
+     },
+     "registered": {
+      "median": 5.4,
+      "p90": 7.9
+     }
+    }
+   },
+   "right": {
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+    "offset_rotvec": [
+     -0.0994,
+     -0.1071,
+     0.121
+    ],
+    "dev_deg": {
+     "median": 7.92,
+     "p90": 24.72
+    },
+    "samples": 3610,
+    "accepted": 3380,
+    "wrist_pos_err_mm_median": 43.1,
+    "per_camera": {
+     "head": {
+      "samples": 3610,
+      "accepted": 3380,
+      "gate_deg": 30.0,
+      "offset_deg": 10.87,
+      "tier": "primary",
+      "dev_deg_median": 7.92,
+      "wrist_pos_err_mm_median": 43.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13642,
+     "interpolated": 1478,
+     "mean_hand": 27,
+     "no_body_fit": 337
+    },
+    "observed_fraction": 0.9765,
+    "observed_fraction_of_valid": 0.9982,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 11.47,
+     "smplx": 1.68
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.8,
+      "p90": 12.4
+     },
+     "registered": {
+      "median": 9.5,
+      "p90": 12.9
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T13:17:30.932242+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/L03/session_012",
   "family": "locomotion_primitives",
   "primitive": "L03",
   "source_session": "20260902/L03/20260902_031427_session25"
+ },
+ "task": {
+  "primitive": "L03",
+  "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop."
  }
 }
diff --git a/actions/locomotion_primitives/L03/session_012/motions/hands_mano.npz b/actions/locomotion_primitives/L03/session_012/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e6f55b7131629f28958ee31c4799e755b59cbf37
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_012/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e938adf22aac9e0e3c325bba6e312fd7593e867e8213106d0612286dc1c7c7d2
+size 5017376
diff --git a/actions/locomotion_primitives/L03/session_012/motions/smplx.npz b/actions/locomotion_primitives/L03/session_012/motions/smplx.npz
index 147980954923d7048cdb2d868cacaee12a52becb..f1cf0fb665cb4930dc84d56c686a0249e7ff0420 100644
--- a/actions/locomotion_primitives/L03/session_012/motions/smplx.npz
+++ b/actions/locomotion_primitives/L03/session_012/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/L03/session_013/annotations.json b/actions/locomotion_primitives/L03/session_013/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..a869d66c27f0198b117a35a0d366181f4a90bff9
--- /dev/null
+++ b/actions/locomotion_primitives/L03/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": "L03",
+ "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop.",
+ "segments": [
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+   "duration_s": 128.966522,
+   "video": "left_eye",
+   "video_t_start": 0.03840108907886641
+  }
+ ],
+ "episodes": [
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+   "end_s": 15.288,
+   "t_start": 1.6544,
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+  },
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+   "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop."
+  },
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+  },
+  {
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+   "segment": "segment1",
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+   "t_start": 74.7394,
+   "t_end": 90.6994,
+   "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop."
+  },
+  {
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/L03/session_013/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/L03/session_013/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..762403329215263ccb7afb02df9ebcac10505ddd
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_013/cameras/gsi_online_calibration.json
@@ -0,0 +1,258 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.399
+ },
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
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+   "gate_fail": [],
+   "held_out_px_after": 0.793,
+   "held_out_px_before": 6.742,
+   "inliers": 1731,
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+   "rotvec_deg": [
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+    0.9802,
+    0.4186
+   ],
+   "split_deg": 0.0823,
+   "usable": true
+  },
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
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+   "held_out_px_before": 2.007,
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+   "position_fitted": true,
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+    5.43,
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+   "position_split_mm": 1.03,
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+    0.7076,
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+   ],
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+   "usable": true
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+   "against": [
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+    "left_eye",
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+    "left"
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+    -0.1482,
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+   "usable": true
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+    "left_eye",
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+    "right"
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+   "position_fitted": true,
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+    4.18,
+    10.23
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+   "position_split_mm": 1.063,
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+    0.0375,
+    0.3969,
+    -0.6223
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+  },
+  "right_front": {
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+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+   "held_out_px_before": 7.178,
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+   "rotvec_deg": [
+    -0.3643,
+    0.4703,
+    -1.8089
+   ],
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+  }
+ },
+ "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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+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "17ee59fdaefdd4404ea60220b779b2fadf5a9f066ec051dc9083a0acbd65138b",
+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
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+  },
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+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "ce73ef40e9886b45",
+ "kind": "online_calibration",
+ "output_sha256": "986a7123ae0027718e919d03e92f6c1596f6e76c462347d4d991e3f0eaa74345",
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+  "right_front-left_eye": 0.711,
+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
+ "picture_change": {
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+  "left_front": 55.293,
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+  "right_eye": 46.567,
+  "right_front": 53.678
+ },
+ "runtime": {
+  "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/L03/session_013/cameras/slam.npz b/actions/locomotion_primitives/L03/session_013/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e3984570e86d0e3f20933a90241d4c25c95e82c4
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_013/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab920be0c67513248f7ff0d31696ece485a94c1fd1f537080a32b267128ca897
+size 741428
diff --git a/actions/locomotion_primitives/L03/session_013/meta.json b/actions/locomotion_primitives/L03/session_013/meta.json
index 8c845db2cb83afc53fcface058c570d2cfdad31f..47d35ff4d05aaaf8684139c5f0d8414d90ee66e7 100644
--- a/actions/locomotion_primitives/L03/session_013/meta.json
+++ b/actions/locomotion_primitives/L03/session_013/meta.json
@@ -332,8 +332,8 @@
   "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 @@
   "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": 12.26,
+    "offset_rotvec": [
+     -0.1659,
+     -0.1351,
+     0.0072
+    ],
+    "dev_deg": {
+     "median": 8.72,
+     "p90": 17.6
+    },
+    "samples": 3763,
+    "accepted": 3692,
+    "wrist_pos_err_mm_median": 42.4,
+    "per_camera": {
+     "head": {
+      "samples": 3763,
+      "accepted": 3692,
+      "gate_deg": 30.0,
+      "offset_deg": 12.26,
+      "tier": "primary",
+      "dev_deg_median": 8.72,
+      "wrist_pos_err_mm_median": 42.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14844,
+     "interpolated": 628,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9992,
+    "observed_fraction_of_valid": 0.9992,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.72,
+     "smplx": 1.83
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 13.2
+     },
+     "registered": {
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+      "p90": 13.1
+     }
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+    "offset_rotvec": [
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+     -0.1134,
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+     "p90": 22.99
+    },
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+    "accepted": 3507,
+    "wrist_pos_err_mm_median": 45.5,
+    "per_camera": {
+     "head": {
+      "samples": 3697,
+      "accepted": 3507,
+      "gate_deg": 30.0,
+      "offset_deg": 10.96,
+      "tier": "primary",
+      "dev_deg_median": 7.7,
+      "wrist_pos_err_mm_median": 45.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14120,
+     "interpolated": 1228,
+     "mean_hand": 136,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9912,
+    "observed_fraction_of_valid": 0.9912,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 11.7,
+     "smplx": 1.19
+    },
+    "hand_marker_to_mesh_mm": {
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+      "median": 9.2,
+      "p90": 13.8
+     },
+     "registered": {
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  "release": {
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   "source_session": "20260902/L03/20260902_031649_session26"
+ },
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  }
 }
diff --git a/actions/locomotion_primitives/L03/session_013/motions/hands_mano.npz b/actions/locomotion_primitives/L03/session_013/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..eef6ce90ae3676b2bf5ac85a127f09bc380ed04d
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_013/motions/hands_mano.npz
@@ -0,0 +1,3 @@
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+size 5049836
diff --git a/actions/locomotion_primitives/L03/session_013/motions/smplx.npz b/actions/locomotion_primitives/L03/session_013/motions/smplx.npz
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--- a/actions/locomotion_primitives/L03/session_013/motions/smplx.npz
+++ b/actions/locomotion_primitives/L03/session_013/motions/smplx.npz
@@ -1,3 +1,3 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..6926cd25108e94f90005f877d0c2d6b957e6fb2c
--- /dev/null
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@@ -0,0 +1,72 @@
+{
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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": "L03",
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+ ]
+}
diff --git a/actions/locomotion_primitives/L03/session_014/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/L03/session_014/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..70063a273af7900869685b620b8a8de433720ba6
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_014/cameras/gsi_online_calibration.json
@@ -0,0 +1,267 @@
+{
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+ },
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+ "factory_root_name": "850a0e6aafa85fdf",
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+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/L03/session_014/cameras/slam.npz b/actions/locomotion_primitives/L03/session_014/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a6e30b7117610a27699a36173ae3d8d85ab09686
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_014/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63cc4018995a980acbb1273daa223b05733c2cc8756237c8f747e84dd532182b
+size 769241
diff --git a/actions/locomotion_primitives/L03/session_014/meta.json b/actions/locomotion_primitives/L03/session_014/meta.json
index ddd661455b6b9174e861bd1555e0059019a54dc8..f1b5e630d7ae9bb4ebebb9d4d660bc189966f7cc 100644
--- a/actions/locomotion_primitives/L03/session_014/meta.json
+++ b/actions/locomotion_primitives/L03/session_014/meta.json
@@ -332,8 +332,8 @@
   "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 @@
   "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_deg": 12.62,
+    "offset_rotvec": [
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+     -0.1426,
+     0.0081
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+     "p90": 16.3
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+    "accepted": 3763,
+    "wrist_pos_err_mm_median": 42.0,
+    "per_camera": {
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+      "accepted": 3763,
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+      "offset_deg": 12.62,
+      "tier": "primary",
+      "dev_deg_median": 8.28,
+      "wrist_pos_err_mm_median": 42.0
+     }
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+     "interpolated": 920,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
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+    "observed_fraction_of_valid": 0.9993,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 1.96
+    },
+    "hand_marker_to_mesh_mm": {
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+     "registered": {
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+     }
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+     "p90": 22.39
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+    "accepted": 3645,
+    "wrist_pos_err_mm_median": 43.7,
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+     "smplx": 1.22
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+      "p90": 8.6
+     },
+     "registered": {
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+      "p90": 8.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T13:19:41.029106+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/L03/session_014",
   "family": "locomotion_primitives",
   "primitive": "L03",
   "source_session": "20260902/L03/20260902_031907_session27"
+ },
+ "task": {
+  "primitive": "L03",
+  "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop."
  }
 }
diff --git a/actions/locomotion_primitives/L03/session_014/motions/hands_mano.npz b/actions/locomotion_primitives/L03/session_014/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8d567d539d6cf04de2dedcf78b725dda22960657
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_014/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 5181431
diff --git a/actions/locomotion_primitives/L03/session_014/motions/smplx.npz b/actions/locomotion_primitives/L03/session_014/motions/smplx.npz
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--- a/actions/locomotion_primitives/L03/session_014/motions/smplx.npz
+++ b/actions/locomotion_primitives/L03/session_014/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/L03/session_015/annotations.json b/actions/locomotion_primitives/L03/session_015/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2020e3ef8686231b2e879d606bee69a26a07829
--- /dev/null
+++ b/actions/locomotion_primitives/L03/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": "L03",
+ "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop.",
+ "segments": [
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/L03/session_015/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/L03/session_015/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ce135b59e276c2890d4b73ee81dfdca351b479f
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_015/cameras/gsi_online_calibration.json
@@ -0,0 +1,264 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 141,
+    "median_px": 680.54,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.386
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.9473,
+   "gate_fail": [],
+   "held_out_px_after": 0.626,
+   "held_out_px_before": 6.726,
+   "inliers": 1649,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.0312,
+    0.8672,
+    0.3797
+   ],
+   "split_deg": 0.0744,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.194,
+   "gate_fail": [],
+   "held_out_px_after": 0.395,
+   "held_out_px_before": 2.863,
+   "inliers": 3273,
+   "position_fitted": true,
+   "position_mm": [
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+    7.29,
+    10.64
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+   "position_split_mm": 2.348,
+   "rotvec_deg": [
+    0.035,
+    0.8223,
+    -0.8651
+   ],
+   "split_deg": 0.066,
+   "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": 2.619,
+   "inliers": 1688,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2677,
+    -0.0846,
+    -0.1509
+   ],
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+   "usable": true
+  },
+  "right_eye": {
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
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+    6.83,
+    10.03
+   ],
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+    0.0818,
+    0.419,
+    -0.6499
+   ],
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+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+    -0.3591,
+    0.5191,
+    -1.7964
+   ],
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+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "8f042576a2d9a8aeb6431db9afa2ea875427c3b863451fe8126c4faf9d3f74cb",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
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+   "sha256": "7f02f7ea1ab5d8c2adddfdbf5e05d15afbc3d21c5970e3188edaf66bb9a90674",
+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "d93e848b986a1258718d0385f851e298c34fb342c6a31c7bc01a4d78d75229f2",
+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "8c6de62119a42c2e",
+ "kind": "online_calibration",
+ "output_sha256": "79c190bb4d3de5df46c945112363207d5a3fc719347f7d33d7e80757fefe7410",
+ "overlap": {
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+  "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": 47.124,
+  "left_eye": 40.855,
+  "left_front": 44.728,
+  "right": 41.086,
+  "right_eye": 42.418,
+  "right_front": 44.573
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
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+   6874561178888,
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+   6881561178888,
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+   6993561167777,
+   6994561167777
+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/L03/session_015/cameras/slam.npz b/actions/locomotion_primitives/L03/session_015/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f13ff5027ff1ab4390be00378f1d7bbbfec4a823
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_015/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8760787c43e8963a9a18e4554a2d6a3698c3ebf2240c52cff46ed45ce0f5d34b
+size 742076
diff --git a/actions/locomotion_primitives/L03/session_015/meta.json b/actions/locomotion_primitives/L03/session_015/meta.json
index 72308e014940dd0ae947fe538c8190374638e215..a44bda28722de2132169f19ef201c8200db71804 100644
--- a/actions/locomotion_primitives/L03/session_015/meta.json
+++ b/actions/locomotion_primitives/L03/session_015/meta.json
@@ -332,8 +332,8 @@
   "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 @@
   "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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+     -0.1515,
+     0.0134
+    ],
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+     "p90": 19.88
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+    "samples": 3753,
+    "accepted": 3659,
+    "wrist_pos_err_mm_median": 42.4,
+    "per_camera": {
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+      "accepted": 3659,
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+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 42.4
+     }
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+     "interpolated": 626,
+     "mean_hand": 136,
+     "no_body_fit": 0
+    },
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+    "observed_fraction_of_valid": 0.9912,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 1.95
+    },
+    "hand_marker_to_mesh_mm": {
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+    "per_camera": {
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+      "tier": "primary",
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+     "no_body_fit": 0
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+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 8.4
+     },
+     "registered": {
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+      "p90": 8.8
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T13:19:41.019805+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/L03/session_015",
   "family": "locomotion_primitives",
   "primitive": "L03",
   "source_session": "20260902/L03/20260902_032618_session30"
+ },
+ "task": {
+  "primitive": "L03",
+  "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop."
  }
 }
diff --git a/actions/locomotion_primitives/L03/session_015/motions/hands_mano.npz b/actions/locomotion_primitives/L03/session_015/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c2b78b55bd16fe6b33a614ef37f7ee3f599f2aef
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_015/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:280a2a7ca0fb1e944e9a6bd9f8cb2884311d1911f0894e7438dc03564af24b76
+size 4994989
diff --git a/actions/locomotion_primitives/L03/session_015/motions/smplx.npz b/actions/locomotion_primitives/L03/session_015/motions/smplx.npz
index f0bbc88fecd53fe914cfc4b913a5b9d9cd91b2ae..a98fc49b7804fca216c62657dbf32ff93189e11a 100644
--- a/actions/locomotion_primitives/L03/session_015/motions/smplx.npz
+++ b/actions/locomotion_primitives/L03/session_015/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 5954944
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diff --git a/actions/locomotion_primitives/L03/session_016/annotations.json b/actions/locomotion_primitives/L03/session_016/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..008eb0f9cea4c737827bbc1cd4f341111b3be57e
--- /dev/null
+++ b/actions/locomotion_primitives/L03/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": "L03",
+ "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop.",
+ "segments": [
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+   "duration_s": 128.966656,
+   "video": "left_eye",
+   "video_t_start": 0.03892184061970383
+  }
+ ],
+ "episodes": [
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+  },
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+  },
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+   "action": "L03",
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+   "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop."
+  },
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+  },
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/L03/session_016/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/L03/session_016/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..238d0a553952f675ae0f87e6cff9b1e62816f85a
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_016/cameras/gsi_online_calibration.json
@@ -0,0 +1,264 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 153,
+    "median_px": 626.4,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.356
+ },
+ "cameras": {
+  "left": {
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+  "right_eye": 42.384,
+  "right_front": 44.399
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+ "runtime": {
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+}
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diff --git a/actions/locomotion_primitives/L03/session_016/cameras/slam.npz b/actions/locomotion_primitives/L03/session_016/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..04ed5de39b49f09f8cc38dd4a95b828ef683bcdd
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_016/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 741383
diff --git a/actions/locomotion_primitives/L03/session_016/meta.json b/actions/locomotion_primitives/L03/session_016/meta.json
index c3d50444b0f61a697f869e3277c4da2fbf687e92..bcbfaa52f285ce90166a89d92aecaecd330393f8 100644
--- a/actions/locomotion_primitives/L03/session_016/meta.json
+++ b/actions/locomotion_primitives/L03/session_016/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": {
@@ -525,10 +525,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
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+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  "generated_at_utc": "2026-11-03T13:19:44.829361+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": "L03",
   "source_session": "20260902/L03/20260902_032836_session31"
+ },
+ "task": {
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+  "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop."
  }
 }
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new file mode 100644
index 0000000000000000000000000000000000000000..5db72efed66d7d52508c888d8b6bf7ab8441265a
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_016/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4976756
diff --git a/actions/locomotion_primitives/L03/session_016/motions/smplx.npz b/actions/locomotion_primitives/L03/session_016/motions/smplx.npz
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--- a/actions/locomotion_primitives/L03/session_016/motions/smplx.npz
+++ b/actions/locomotion_primitives/L03/session_016/motions/smplx.npz
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diff --git a/actions/locomotion_primitives/L03/session_017/annotations.json b/actions/locomotion_primitives/L03/session_017/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..573133c26545ebd2e15ee898380cbb993812b0ca
--- /dev/null
+++ b/actions/locomotion_primitives/L03/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": "L03",
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+ ]
+}
diff --git a/actions/locomotion_primitives/L03/session_017/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/L03/session_017/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c1c5d6cb1bed3d08383f99516c082b6ecd7ce3b
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_017/cameras/gsi_online_calibration.json
@@ -0,0 +1,265 @@
+{
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+ },
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+ "factory_root_name": "850a0e6aafa85fdf",
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+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/L03/session_017/cameras/slam.npz b/actions/locomotion_primitives/L03/session_017/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..73e4700265c89bdb9412e685c9b8ceeb7f5c3750
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_017/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92afd1d61c56fb90a08f64773acd8ae164a8c969d945c058abdc956050780f9e
+size 797141
diff --git a/actions/locomotion_primitives/L03/session_017/meta.json b/actions/locomotion_primitives/L03/session_017/meta.json
index 95b508acb1a96cc91fdc0217a76e7fb03bfce14a..d5891a38c0c3463e85384a430caf94e8cd7a847e 100644
--- a/actions/locomotion_primitives/L03/session_017/meta.json
+++ b/actions/locomotion_primitives/L03/session_017/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"
  },
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+      "tier": "primary",
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+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  ],
+  "generated_at_utc": "2026-11-03T13:20:02.943039+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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+ },
+ "task": {
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+  "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop."
  }
 }
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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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+size 5380262
diff --git a/actions/locomotion_primitives/L03/session_017/motions/smplx.npz b/actions/locomotion_primitives/L03/session_017/motions/smplx.npz
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--- a/actions/locomotion_primitives/L03/session_017/motions/smplx.npz
+++ b/actions/locomotion_primitives/L03/session_017/motions/smplx.npz
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new file mode 100644
index 0000000000000000000000000000000000000000..83a14d5e839e6d9459be7e02fbec6eaddf8c7990
--- /dev/null
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@@ -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": "L03",
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+ ]
+}
diff --git a/actions/locomotion_primitives/L03/session_018/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/L03/session_018/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d3e7209a1f57c2e98465d308c685c5ea84a30ac
--- /dev/null
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@@ -0,0 +1,264 @@
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+ },
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new file mode 100644
index 0000000000000000000000000000000000000000..4bb720b5e2e41e8935877e567b3a84c46c8a542a
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_018/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/L03/session_018/meta.json b/actions/locomotion_primitives/L03/session_018/meta.json
index eae52fb01e5c3bfe2770815f71ff671faf443572..a369fe8c5f9c8370fe8fd3deca1df292ab6d3323 100644
--- a/actions/locomotion_primitives/L03/session_018/meta.json
+++ b/actions/locomotion_primitives/L03/session_018/meta.json
@@ -348,8 +348,8 @@
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-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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@@ -540,10 +540,124 @@
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   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
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  }
 }
diff --git a/actions/locomotion_primitives/L03/session_018/motions/hands_mano.npz b/actions/locomotion_primitives/L03/session_018/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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@@ -0,0 +1,72 @@
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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": "L03",
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+}
diff --git a/actions/locomotion_primitives/L03/session_019/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/L03/session_019/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..00b7e15e4d9582052d077b3be21d7d4c0db42345
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_019/cameras/gsi_online_calibration.json
@@ -0,0 +1,261 @@
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+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
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+  },
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diff --git a/actions/locomotion_primitives/L03/session_019/cameras/slam.npz b/actions/locomotion_primitives/L03/session_019/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..79ecc13862b447bb66a1fe829942273e757799a8
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diff --git a/actions/locomotion_primitives/L03/session_019/meta.json b/actions/locomotion_primitives/L03/session_019/meta.json
index e1f27b2bc3ab359afa96ba678a30887649ddb06f..59a1f04017bc17c48a429078034c475e38a1c3c2 100644
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   "hands": {
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-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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     "left": {
@@ -539,10 +539,124 @@
   "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": 11.98,
+    "offset_rotvec": [
+     -0.161,
+     -0.1333,
+     -0.0044
+    ],
+    "dev_deg": {
+     "median": 8.72,
+     "p90": 16.78
+    },
+    "samples": 3644,
+    "accepted": 3569,
+    "wrist_pos_err_mm_median": 40.0,
+    "per_camera": {
+     "head": {
+      "samples": 3644,
+      "accepted": 3569,
+      "gate_deg": 30.0,
+      "offset_deg": 11.98,
+      "tier": "primary",
+      "dev_deg_median": 8.72,
+      "wrist_pos_err_mm_median": 40.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14356,
+     "interpolated": 872,
+     "mean_hand": 256,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9835,
+    "observed_fraction_of_valid": 0.9835,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 11.86,
+     "smplx": 1.45
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.8,
+      "p90": 11.6
+     },
+     "registered": {
+      "median": 10.8,
+      "p90": 13.5
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 9.91,
+    "offset_rotvec": [
+     -0.1247,
+     -0.0879,
+     0.0815
+    ],
+    "dev_deg": {
+     "median": 8.81,
+     "p90": 23.15
+    },
+    "samples": 3541,
+    "accepted": 3380,
+    "wrist_pos_err_mm_median": 48.1,
+    "per_camera": {
+     "head": {
+      "samples": 3541,
+      "accepted": 3380,
+      "gate_deg": 30.0,
+      "offset_deg": 9.91,
+      "tier": "primary",
+      "dev_deg_median": 8.81,
+      "wrist_pos_err_mm_median": 48.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13630,
+     "interpolated": 1478,
+     "mean_hand": 376,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9757,
+    "observed_fraction_of_valid": 0.9757,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.76,
+     "smplx": 1.3
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.5,
+      "p90": 7.4
+     },
+     "registered": {
+      "median": 5.1,
+      "p90": 7.5
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T13:20:09.042001+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/L03/session_019",
   "family": "locomotion_primitives",
   "primitive": "L03",
   "source_session": "20260902/L03/20260902_035505_session36"
+ },
+ "task": {
+  "primitive": "L03",
+  "instruction": "Walk quickly but do not run; remain comfortable and controlled; stop."
  }
 }
diff --git a/actions/locomotion_primitives/L03/session_019/motions/hands_mano.npz b/actions/locomotion_primitives/L03/session_019/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..da03eae3317757c454c705fce5245841846fe07d
--- /dev/null
+++ b/actions/locomotion_primitives/L03/session_019/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2267bf88ce2b0e9c14481f723707312ae298805938b453f231a9700e9b65e93
+size 4875548
diff --git a/actions/locomotion_primitives/L03/session_019/motions/smplx.npz b/actions/locomotion_primitives/L03/session_019/motions/smplx.npz
index 061a5c91ecbf693a92a29d9435dec64458b62db2..01425158ddb8b9755151d395933781ffccc568ec 100644
--- a/actions/locomotion_primitives/L03/session_019/motions/smplx.npz
+++ b/actions/locomotion_primitives/L03/session_019/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:25024f14d2241cb2fa10bd78ed96537831a9f77886903bef74cca068976f2df1
-size 5963325
+oid sha256:458195a8bd4ef7731a1eec3cecebc58ce8c2cf34162b5274ce5b3a5a5f741b88
+size 11075505
diff --git a/actions/locomotion_primitives/P01/session_001/annotations.json b/actions/locomotion_primitives/P01/session_001/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..574ded176e252e02323d8540090a39f30ed48d66
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_001/annotations.json
@@ -0,0 +1,127 @@
+{
+ "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": "P01",
+ "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 83.966578,
+   "video": "left_eye",
+   "video_t_start": 0.03849679094618752
+  }
+ ],
+ "episodes": [
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+   "id": "33a83ee1-b241-4bc9-bb94-3c56f8551726",
+   "segment": "segment1",
+   "action": "P01",
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+   "end_s": 6.425,
+   "t_start": 0.0385,
+   "t_end": 6.4635,
+   "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P01",
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+   "end_s": 14.106,
+   "t_start": 8.7455,
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+   "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
+  },
+  {
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+   "t_end": 29.3925,
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+  },
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+  },
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+   "segment": "segment1",
+   "action": "P01",
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+   "end_s": 45.582,
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+   "t_end": 45.6205,
+   "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P01",
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+   "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P01",
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+   "t_start": 57.3505,
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+   "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
+  },
+  {
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+   "segment": "segment1",
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+   "end_s": 71.505,
+   "t_start": 65.7535,
+   "t_end": 71.5435,
+   "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
+  },
+  {
+   "id": "d2b64c12-8298-422b-9201-254e3220a218",
+   "segment": "segment1",
+   "action": "P01",
+   "quality": "valid",
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+   "end_s": 79.647,
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+   "t_end": 79.6855,
+   "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P01/session_001/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P01/session_001/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef857ea6d1f1b7c0be618cfe2043bc89ae57896f
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_001/cameras/gsi_online_calibration.json
@@ -0,0 +1,258 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 172,
+    "median_px": 18.16,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.365
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.9145,
+   "gate_fail": [],
+   "held_out_px_after": 0.903,
+   "held_out_px_before": 6.53,
+   "inliers": 1268,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.0594,
+    0.7945,
+    0.4489
+   ],
+   "split_deg": 0.2884,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.9178,
+   "gate_fail": [],
+   "held_out_px_after": 0.434,
+   "held_out_px_before": 2.036,
+   "inliers": 2269,
+   "position_fitted": true,
+   "position_mm": [
+    -8.99,
+    6.19,
+    10.4
+   ],
+   "position_sigma_mm": 0.282,
+   "position_split_mm": 2.761,
+   "rotvec_deg": [
+    0.0431,
+    0.5702,
+    -0.718
+   ],
+   "split_deg": 0.1272,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.4625,
+   "gate_fail": [],
+   "held_out_px_after": 0.562,
+   "held_out_px_before": 2.146,
+   "inliers": 1819,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.4237,
+    -0.1387,
+    -0.1234
+   ],
+   "split_deg": 0.1173,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.6897,
+   "gate_fail": [],
+   "held_out_px_after": 0.459,
+   "held_out_px_before": 2.038,
+   "inliers": 2302,
+   "position_fitted": true,
+   "position_mm": [
+    -10.6,
+    8.42,
+    10.36
+   ],
+   "position_sigma_mm": 0.331,
+   "position_split_mm": 7.86,
+   "rotvec_deg": [
+    0.1803,
+    0.3312,
+    -0.5775
+   ],
+   "split_deg": 0.0808,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.7363,
+   "gate_fail": [],
+   "held_out_px_after": 0.34,
+   "held_out_px_before": 8.084,
+   "inliers": 3818,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3418,
+    0.4242,
+    -1.6487
+   ],
+   "split_deg": 0.031,
+   "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": "78e7088937969de6a55e62b7087e85bbbc0125c96f82687ccc5f82a82dd4eef7",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "b2025893912a5b679c854b3976ab778e24668a6c57bef11f9630d61628760d4b",
+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "19597c8bf73d8dd32397258f4df70489e0c22dfaa4ebd64af219426a0be33279",
+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "ef853dde58f28111800e406c59edbf50d4790c7e94cd20fbb4581c22460147b2",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "b43907ac14b484e2",
+ "kind": "online_calibration",
+ "output_sha256": "13e7b500225a13dbd431a34a1f12e25c6ca6f5fcb5c6c4005a1ebd813295e919",
+ "overlap": {
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+  "left_eye-left": 0.707,
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+  "left_front-left": 0.484,
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+  "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": 40.646,
+  "left_eye": 36.503,
+  "left_front": 42.552,
+  "right": 35.286,
+  "right_eye": 37.233,
+  "right_front": 42.422
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
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+   3597729759000,
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+   3604729759000,
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+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P01/session_001/cameras/slam.npz b/actions/locomotion_primitives/P01/session_001/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2667155a5d7b0bc7d9d04dc26d290b402198acf8
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_001/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39b93867a2a4ae83b186dadda77115de69611d4125024efed4cb6fc1d426b4d3
+size 483047
diff --git a/actions/locomotion_primitives/P01/session_001/meta.json b/actions/locomotion_primitives/P01/session_001/meta.json
index 0f79d7f26078253bccf0fbdbd83c00453159d45f..a4c9ba0b40e8874c844a32d8fc9b46f4cb111c56 100644
--- a/actions/locomotion_primitives/P01/session_001/meta.json
+++ b/actions/locomotion_primitives/P01/session_001/meta.json
@@ -332,8 +332,8 @@
   "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 @@
   "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": 15.41,
+    "offset_rotvec": [
+     -0.1321,
+     -0.2318,
+     -0.0337
+    ],
+    "dev_deg": {
+     "median": 8.66,
+     "p90": 21.72
+    },
+    "samples": 2110,
+    "accepted": 2017,
+    "wrist_pos_err_mm_median": 49.5,
+    "per_camera": {
+     "head": {
+      "samples": 2110,
+      "accepted": 2017,
+      "gate_deg": 30.0,
+      "offset_deg": 15.41,
+      "tier": "primary",
+      "dev_deg_median": 8.66,
+      "wrist_pos_err_mm_median": 49.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 8224,
+     "interpolated": 1848,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9988,
+    "observed_fraction_of_valid": 0.9988,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 14.01,
+     "smplx": 0.75
+    },
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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/P01/session_001",
   "family": "locomotion_primitives",
   "primitive": "P01",
   "source_session": "20260828/P01/20260828_020050_session229"
+ },
+ "task": {
+  "primitive": "P01",
+  "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
  }
 }
diff --git a/actions/locomotion_primitives/P01/session_001/motions/hands_mano.npz b/actions/locomotion_primitives/P01/session_001/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..eaa5ee23723a1d939f01a1d1e60f98ddac7d35be
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_001/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 2924235
diff --git a/actions/locomotion_primitives/P01/session_001/motions/smplx.npz b/actions/locomotion_primitives/P01/session_001/motions/smplx.npz
index bb89b4609644dd51c2e27169b20d8980bc9635f9..92c08feeb25d0cc4d67d6b849e11697bef420fbd 100644
--- a/actions/locomotion_primitives/P01/session_001/motions/smplx.npz
+++ b/actions/locomotion_primitives/P01/session_001/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 3875661
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diff --git a/actions/locomotion_primitives/P01/session_002/annotations.json b/actions/locomotion_primitives/P01/session_002/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..01f69ac8adab8d108e4025e745eeb1f17868272e
--- /dev/null
+++ b/actions/locomotion_primitives/P01/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": "P01",
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P01/session_002/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P01/session_002/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..301536c23ca149c4d0c2bff081bb88c4e73a32cc
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_002/cameras/gsi_online_calibration.json
@@ -0,0 +1,259 @@
+{
+ "camera_fit": {
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+  "groups_used": 15,
+  "median_px": 0.409
+ },
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+   "accepted": true,
+   "against": [
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+    "left_eye",
+    "right_eye",
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+   "rotvec_deg": [
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+    0.6943,
+    0.4373
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+   "usable": true
+  },
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+   "accepted": true,
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+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
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+   ],
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+ },
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+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
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+  },
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+ },
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+  "right_front-right_eye": 0.724
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+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
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+ "version": 1
+}
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diff --git a/actions/locomotion_primitives/P01/session_002/cameras/slam.npz b/actions/locomotion_primitives/P01/session_002/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d89c98830712da3e309f8c2b55b4ce54cb030a16
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_002/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97b0470f377082c193ae0c59573959a6f09eea868d23ed44db2beae83b5cae9b
+size 511081
diff --git a/actions/locomotion_primitives/P01/session_002/meta.json b/actions/locomotion_primitives/P01/session_002/meta.json
index 5a1deb3c7739280a765e733239bcdd12343ea962..0c154a238ed894cf2149907c46876d87e24546e3 100644
--- a/actions/locomotion_primitives/P01/session_002/meta.json
+++ b/actions/locomotion_primitives/P01/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": {
+    "offset_deg": 14.56,
+    "offset_rotvec": [
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+     -0.0532
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+    "samples": 2195,
+    "accepted": 2143,
+    "wrist_pos_err_mm_median": 49.2,
+    "per_camera": {
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+      "accepted": 2143,
+      "gate_deg": 30.0,
+      "offset_deg": 14.56,
+      "tier": "primary",
+      "dev_deg_median": 7.78,
+      "wrist_pos_err_mm_median": 49.2
+     }
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+     "mean_hand": 5,
+     "no_body_fit": 8
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+    "observed_fraction_of_valid": 0.9995,
+    "palm_axis_vs_markers_deg": {
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+     "p90": 25.89
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+    "accepted": 2103,
+    "wrist_pos_err_mm_median": 69.5,
+    "per_camera": {
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+      "tier": "primary",
+      "dev_deg_median": 8.25,
+      "wrist_pos_err_mm_median": 69.5
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+     "interpolated": 2082,
+     "mean_hand": 5,
+     "no_body_fit": 8
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+    "observed_fraction": 0.9988,
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+ },
  "release": {
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   "family": "locomotion_primitives",
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+  "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
  }
 }
diff --git a/actions/locomotion_primitives/P01/session_002/motions/hands_mano.npz b/actions/locomotion_primitives/P01/session_002/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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diff --git a/actions/locomotion_primitives/P01/session_002/motions/smplx.npz b/actions/locomotion_primitives/P01/session_002/motions/smplx.npz
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+}
diff --git a/actions/locomotion_primitives/P01/session_003/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P01/session_003/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f5b8d972c029204f2641f8045b33942414d385c
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_003/cameras/gsi_online_calibration.json
@@ -0,0 +1,264 @@
+{
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+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P01/session_003/cameras/slam.npz b/actions/locomotion_primitives/P01/session_003/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4e8591a888cfc70227bb1dbf74e20cfc527eb833
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_003/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4774549e0a91063f3971b074954e3a750a21ce9fcd6da2bb8a28dd1e2edd86e0
+size 1109614
diff --git a/actions/locomotion_primitives/P01/session_003/meta.json b/actions/locomotion_primitives/P01/session_003/meta.json
index cacc73ebff48a1f2b729252e53722a5857cb61cb..512741eba1e2bd0a0200ab76a6122173a4a5d83f 100644
--- a/actions/locomotion_primitives/P01/session_003/meta.json
+++ b/actions/locomotion_primitives/P01/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": {
@@ -529,10 +529,124 @@
   "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": 16.48,
+    "offset_rotvec": [
+     -0.1356,
+     -0.246,
+     -0.0618
+    ],
+    "dev_deg": {
+     "median": 6.8,
+     "p90": 16.79
+    },
+    "samples": 5136,
+    "accepted": 4992,
+    "wrist_pos_err_mm_median": 42.0,
+    "per_camera": {
+     "head": {
+      "samples": 5136,
+      "accepted": 4992,
+      "gate_deg": 30.0,
+      "offset_deg": 16.48,
+      "tier": "primary",
+      "dev_deg_median": 6.8,
+      "wrist_pos_err_mm_median": 42.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 20218,
+     "interpolated": 3054,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9995,
+    "observed_fraction_of_valid": 0.9995,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.45,
+     "smplx": 0.84
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.5,
+      "p90": 11.2
+     },
+     "registered": {
+      "median": 9.2,
+      "p90": 12.3
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 8.74,
+    "offset_rotvec": [
+     -0.097,
+     -0.016,
+     0.1167
+    ],
+    "dev_deg": {
+     "median": 9.05,
+     "p90": 21.4
+    },
+    "samples": 4984,
+    "accepted": 4789,
+    "wrist_pos_err_mm_median": 84.5,
+    "per_camera": {
+     "head": {
+      "samples": 4984,
+      "accepted": 4789,
+      "gate_deg": 30.0,
+      "offset_deg": 8.74,
+      "tier": "primary",
+      "dev_deg_median": 9.05,
+      "wrist_pos_err_mm_median": 84.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 19480,
+     "interpolated": 3792,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9995,
+    "observed_fraction_of_valid": 0.9995,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 9.75,
+     "smplx": 0.68
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.6,
+      "p90": 7.1
+     },
+     "registered": {
+      "median": 6.3,
+      "p90": 7.0
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:38:53.647098+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/P01/session_003",
   "family": "locomotion_primitives",
   "primitive": "P01",
   "source_session": "20260831/P01/20260831_015223_session3"
+ },
+ "task": {
+  "primitive": "P01",
+  "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
  }
 }
diff --git a/actions/locomotion_primitives/P01/session_003/motions/hands_mano.npz b/actions/locomotion_primitives/P01/session_003/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..322299ec73edf4a661f161000d63d70536f99855
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_003/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cc2812ec67130048c4cd92deee242820ea41bd4f60fd37eb1ee301297e0fa40
+size 6900449
diff --git a/actions/locomotion_primitives/P01/session_003/motions/smplx.npz b/actions/locomotion_primitives/P01/session_003/motions/smplx.npz
index f096dc3ac924fa66603e678809c4a9c9fba04343..8c00c65518c9c515e5c743f8191ec69fb6773ec6 100644
--- a/actions/locomotion_primitives/P01/session_003/motions/smplx.npz
+++ b/actions/locomotion_primitives/P01/session_003/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c7820f79e68e7e4651abfa0d1f6b8d3cea37b682e4f0df9277e357811f00c815
-size 8935484
+oid sha256:3d8f3c3953399a872fc601e0ab4b6eb10afc6145bbb8da28138a24d2f2262d50
+size 16760501
diff --git a/actions/locomotion_primitives/P01/session_004/annotations.json b/actions/locomotion_primitives/P01/session_004/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..29663946b386d31f6639a1fe4dcef15c30738a29
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_004/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": "P01",
+ "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint.",
+ "segments": [
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+   "video": "left_eye",
+   "video_t_start": 0.0387421668247836
+  }
+ ],
+ "episodes": [
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+   "end_s": 7.412,
+   "t_start": 1.8777,
+   "t_end": 7.4507,
+   "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
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+   "end_s": 14.607,
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+   "t_end": 14.6457,
+   "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
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+   "end_s": 24.073,
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+   "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
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+   "action": "P01",
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+   "end_s": 32.653,
+   "t_start": 27.3247,
+   "t_end": 32.6917,
+   "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
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+   "segment": "segment1",
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+   "t_end": 42.2957,
+   "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
+  },
+  {
+   "id": "3d91924c-5014-46a3-90c5-661f501c17bb",
+   "segment": "segment1",
+   "action": "P01",
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+   "t_start": 45.5007,
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+   "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
+  },
+  {
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+   "t_start": 54.4007,
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+   "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P01",
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+   "end_s": 69.785,
+   "t_start": 63.7677,
+   "t_end": 69.8237,
+   "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
+  },
+  {
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+   "segment": "segment1",
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+   "end_s": 77.996,
+   "t_start": 72.2347,
+   "t_end": 78.0347,
+   "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
+  },
+  {
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+   "segment": "segment1",
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+   "end_s": 87.124,
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+   "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P01/session_004/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P01/session_004/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d91ea47bd4da75a0ee0fe386f3e953df5a10a2b
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_004/cameras/gsi_online_calibration.json
@@ -0,0 +1,263 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 195,
+    "median_px": 16.75,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.353
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.9559,
+   "gate_fail": [],
+   "held_out_px_after": 0.553,
+   "held_out_px_before": 7.5,
+   "inliers": 1649,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.0387,
+    0.856,
+    0.4237
+   ],
+   "split_deg": 0.1045,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0886,
+   "gate_fail": [],
+   "held_out_px_after": 0.318,
+   "held_out_px_before": 2.23,
+   "inliers": 2575,
+   "position_fitted": true,
+   "position_mm": [
+    -9.26,
+    8.86,
+    13.73
+   ],
+   "position_sigma_mm": 0.291,
+   "position_split_mm": 2.265,
+   "rotvec_deg": [
+    0.0926,
+    0.6939,
+    -0.8337
+   ],
+   "split_deg": 0.024,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.3968,
+   "gate_fail": [],
+   "held_out_px_after": 0.571,
+   "held_out_px_before": 2.035,
+   "inliers": 1332,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2428,
+    -0.2201,
+    -0.2237
+   ],
+   "split_deg": 0.0646,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.8162,
+   "gate_fail": [],
+   "held_out_px_after": 0.357,
+   "held_out_px_before": 1.938,
+   "inliers": 2942,
+   "position_fitted": true,
+   "position_mm": [
+    -11.79,
+    6.95,
+    12.54
+   ],
+   "position_sigma_mm": 0.288,
+   "position_split_mm": 1.359,
+   "rotvec_deg": [
+    0.1745,
+    0.3821,
+    -0.6998
+   ],
+   "split_deg": 0.0188,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.8533,
+   "gate_fail": [],
+   "held_out_px_after": 0.325,
+   "held_out_px_before": 6.737,
+   "inliers": 3539,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.357,
+    0.4827,
+    -1.7534
+   ],
+   "split_deg": 0.0261,
+   "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": "9ddbff3ab1849beaee04550d64f55acb753db4a9b18cabbe11cf61347c52d564",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "bd3046d38032ecf44b6ace6aac3eb1f9f0cb50979e94f855794f11bb7b52696b",
+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "33070d6b6791369945b937f7254e10c30aa1c4fdd97ea2757d9d26afe94d2301",
+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "1dc52be22cc8490212ecdf2cb01fd50406571abd6b4aa7bbad1b1b25b77bfdb8",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "b335e9e7a5c245ce",
+ "kind": "online_calibration",
+ "output_sha256": "bfdf1c6810e9fb85a009507cbd6fe56dc8f0b7211338feaee11e4d43ce3761c6",
+ "overlap": {
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+  "left_front-left_eye": 0.709,
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+  "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": 42.956,
+  "left_eye": 37.707,
+  "left_front": 44.553,
+  "right": 39.094,
+  "right_eye": 39.128,
+  "right_front": 44.661
+ },
+ "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/P01/session_004/cameras/slam.npz b/actions/locomotion_primitives/P01/session_004/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0109c18449eda91043413d36deb11bce1e730394
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_004/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61899b3a4685114736342ef6cbe8f9fed87f27624674791248185dce2273514d
+size 539585
diff --git a/actions/locomotion_primitives/P01/session_004/meta.json b/actions/locomotion_primitives/P01/session_004/meta.json
index e985489529eed740332a9fa83c0d379b04d79d78..e52ef51f29fbc65002ffa043d663de2c18a6a2a1 100644
--- a/actions/locomotion_primitives/P01/session_004/meta.json
+++ b/actions/locomotion_primitives/P01/session_004/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": {
@@ -514,10 +514,124 @@
   "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": 12.84,
+    "offset_rotvec": [
+     -0.1295,
+     -0.1796,
+     -0.0341
+    ],
+    "dev_deg": {
+     "median": 7.26,
+     "p90": 17.75
+    },
+    "samples": 2499,
+    "accepted": 2433,
+    "wrist_pos_err_mm_median": 57.7,
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:38:30.125734+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/P01/session_004",
   "family": "locomotion_primitives",
   "primitive": "P01",
   "source_session": "20260831/P01/20260831_062729_session8"
+ },
+ "task": {
+  "primitive": "P01",
+  "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
  }
 }
diff --git a/actions/locomotion_primitives/P01/session_004/motions/hands_mano.npz b/actions/locomotion_primitives/P01/session_004/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..760085e987e68088ba177b61222fa277e7aac7fd
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_004/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3363756
diff --git a/actions/locomotion_primitives/P01/session_004/motions/smplx.npz b/actions/locomotion_primitives/P01/session_004/motions/smplx.npz
index e5a7dcc8f71df5f493f32968039fc67ae6f4fa80..b78ac006e4a3d6b27b354d6d66bc54b1a70e137d 100644
--- a/actions/locomotion_primitives/P01/session_004/motions/smplx.npz
+++ b/actions/locomotion_primitives/P01/session_004/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 4327959
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+size 8102603
diff --git a/actions/locomotion_primitives/P01/session_005/annotations.json b/actions/locomotion_primitives/P01/session_005/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f54e66cf9e7757bf1c1979b7846bf8365b6dc9c
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_005/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": "P01",
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+   "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P01/session_005/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P01/session_005/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b773f0cbe22b337d264fc1f7173fe6cd01935e9
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_005/cameras/gsi_online_calibration.json
@@ -0,0 +1,267 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
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+    "median_px": 17.0,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.453
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+   "delta_deg": 0.9254,
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+   "held_out_px_before": 6.75,
+   "inliers": 1557,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2919,
+    0.7248,
+    0.4957
+   ],
+   "split_deg": 0.0886,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+   "inliers": 2964,
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+     9.48,
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+   "against": [
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+    "right_front",
+    "left_eye",
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+    "left_eye",
+    "left",
+    "right"
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+  },
+  "right_front": {
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+   "against": [
+    "left_front",
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+    "right_eye",
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+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
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+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
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+  },
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+  }
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+ "input_fingerprint": "e4c1c03929c185a7",
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+  "left_eye": 38.763,
+  "left_front": 45.18,
+  "right": 37.726,
+  "right_eye": 40.82,
+  "right_front": 43.725
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+  "opencv": "5.0.0",
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+ "selection": {
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P01/session_005/cameras/slam.npz b/actions/locomotion_primitives/P01/session_005/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3c3cc60fa24774e476b5453b0df973105ce29efd
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_005/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dad24c164aec6d3ac2837c38f6ee9f1bf0916e9b531279cb2e30505357ea14b5
+size 511423
diff --git a/actions/locomotion_primitives/P01/session_005/meta.json b/actions/locomotion_primitives/P01/session_005/meta.json
index 1ca105786accbd057bce25f15a138414daff1de3..5261e0ccafc08833ad24f47f3cb51833d3856b47 100644
--- a/actions/locomotion_primitives/P01/session_005/meta.json
+++ b/actions/locomotion_primitives/P01/session_005/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": {
@@ -514,10 +514,124 @@
   "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": 14.08,
+    "offset_rotvec": [
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+     -0.2051,
+     -0.0195
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+    "dev_deg": {
+     "median": 8.57,
+     "p90": 18.59
+    },
+    "samples": 2288,
+    "accepted": 2224,
+    "wrist_pos_err_mm_median": 62.8,
+    "per_camera": {
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+      "accepted": 2224,
+      "gate_deg": 30.0,
+      "offset_deg": 14.08,
+      "tier": "primary",
+      "dev_deg_median": 8.57,
+      "wrist_pos_err_mm_median": 62.8
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 1642,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9989,
+    "observed_fraction_of_valid": 0.9989,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.07,
+     "smplx": 1.1
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.8,
+      "p90": 10.3
+     },
+     "registered": {
+      "median": 10.8,
+      "p90": 13.3
+     }
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+    },
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+   "head"
+  ],
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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/P01/session_005",
   "family": "locomotion_primitives",
   "primitive": "P01",
   "source_session": "20260831/P01/20260831_062912_session9"
+ },
+ "task": {
+  "primitive": "P01",
+  "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
  }
 }
diff --git a/actions/locomotion_primitives/P01/session_005/motions/hands_mano.npz b/actions/locomotion_primitives/P01/session_005/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0701126a6dac09f513e7abf25c40746ea18614ea
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_005/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5197cce5988148248bf460353fb2f2795158e605e23ec8672a44bad3ae34178c
+size 3070786
diff --git a/actions/locomotion_primitives/P01/session_005/motions/smplx.npz b/actions/locomotion_primitives/P01/session_005/motions/smplx.npz
index 45092554909aeb1d7a9256668bc9b42b22f8e7f5..1c4790db0dbc83888a2e7b8d738866c644428122 100644
--- a/actions/locomotion_primitives/P01/session_005/motions/smplx.npz
+++ b/actions/locomotion_primitives/P01/session_005/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 4106047
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diff --git a/actions/locomotion_primitives/P01/session_006/annotations.json b/actions/locomotion_primitives/P01/session_006/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..44cd7c57fe36c399b1bb04a6ab5bd5764e2facc7
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_006/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",
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P01/session_006/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P01/session_006/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b5a805ec75a04c662171268ba3b698c3318c9bd
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_006/cameras/gsi_online_calibration.json
@@ -0,0 +1,262 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
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+    "median_px": 665.11,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
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+  "median_px": 0.342
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.8868,
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+   "inliers": 1583,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.0639,
+    0.8375,
+    0.2847
+   ],
+   "split_deg": 0.1949,
+   "usable": true
+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
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+    11.9,
+    9.09
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+  },
+  "right_front": {
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+ },
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+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
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+  }
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+  "right": 35.084,
+  "right_eye": 37.914,
+  "right_front": 47.856
+ },
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+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P01/session_006/cameras/slam.npz b/actions/locomotion_primitives/P01/session_006/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..74cee9e94885c340ba56a3140f3b9ca19ecad5a7
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_006/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08e2f765a861451bcf1cbe81c1d2d929db14681b1c6766339a6b5829e5287483
+size 579614
diff --git a/actions/locomotion_primitives/P01/session_006/meta.json b/actions/locomotion_primitives/P01/session_006/meta.json
index 73be726692cd47f5a057118b9829f5e55f6fc68c..14a08dc694438cc86c740b5a57ce51d6167c4bd6 100644
--- a/actions/locomotion_primitives/P01/session_006/meta.json
+++ b/actions/locomotion_primitives/P01/session_006/meta.json
@@ -334,8 +334,8 @@
   "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": {
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+    "offset_rotvec": [
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+     -0.2305,
+     -0.0225
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+     "p90": 20.26
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+    "samples": 2563,
+    "accepted": 2455,
+    "wrist_pos_err_mm_median": 56.9,
+    "per_camera": {
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+      "accepted": 2455,
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+      "offset_deg": 15.74,
+      "tier": "primary",
+      "dev_deg_median": 8.13,
+      "wrist_pos_err_mm_median": 56.9
+     }
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+     "interpolated": 1896,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.999,
+    "observed_fraction_of_valid": 0.999,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 1.03
+    },
+    "hand_marker_to_mesh_mm": {
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+    "accepted": 2286,
+    "wrist_pos_err_mm_median": 83.0,
+    "per_camera": {
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+      "tier": "primary",
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+     "no_body_fit": 0
+    },
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+    "observed_fraction_of_valid": 0.999,
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+     "smplx": 0.73
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 5.4
+     },
+     "registered": {
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+      "p90": 5.3
+     }
+    }
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+  ],
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+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P01/session_006",
   "family": "locomotion_primitives",
   "primitive": "P01",
   "source_session": "20260831/P01/20260831_075208_session31"
+ },
+ "task": {
+  "primitive": "P01",
+  "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
  }
 }
diff --git a/actions/locomotion_primitives/P01/session_006/motions/hands_mano.npz b/actions/locomotion_primitives/P01/session_006/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4851baac6482d199f8723db6877a34afbb96145d
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_006/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abcff6b4c653734da9387cb87ee8d4d3d48a78311ff410da36b810bb179fcb55
+size 3461278
diff --git a/actions/locomotion_primitives/P01/session_006/motions/smplx.npz b/actions/locomotion_primitives/P01/session_006/motions/smplx.npz
index 1a72077b5b85ae488b28af2cd4ce83231c38021d..c4b579295a26f0c1a08acaa8ae4caa32d6de9569 100644
--- a/actions/locomotion_primitives/P01/session_006/motions/smplx.npz
+++ b/actions/locomotion_primitives/P01/session_006/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:254b7d4b75f583cc4db80361a465ec1a74ae0fab5856101a0314feb6878ab6fb
-size 4561339
+oid sha256:f2bb59213a5195479ac639b0f77e0f57f42cd5df8a9cd29797d1bf8fe5107354
+size 8554954
diff --git a/actions/locomotion_primitives/P01/session_007/annotations.json b/actions/locomotion_primitives/P01/session_007/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..326340c15ba82948ed7ae5abbb063e416883d003
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_007/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": "P01",
+ "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint.",
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+  }
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+   "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P01/session_007/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P01/session_007/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..1be6e1a618062cf69b61c5a5ff2d14822e4778ac
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_007/cameras/gsi_online_calibration.json
@@ -0,0 +1,264 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
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+    "median_px": 12.36,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
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+  "median_px": 0.355
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.9259,
+   "gate_fail": [],
+   "held_out_px_after": 0.56,
+   "held_out_px_before": 6.428,
+   "inliers": 1672,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.0318,
+    0.8702,
+    0.3147
+   ],
+   "split_deg": 0.0481,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0469,
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+   "held_out_px_before": 2.705,
+   "inliers": 3097,
+   "position_fitted": true,
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+    7.83,
+    12.3
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+   "position_split_mm": 2.002,
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+    0.0633,
+    0.6996,
+    -0.7762
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+   "split_deg": 0.0538,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+   "rotvec_deg": [
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+    -0.1496,
+    -0.007
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+   "usable": true
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+    "left_eye",
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+    "right"
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+   "position_mm": [
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+    6.16,
+    10.19
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+    0.3238,
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+   ],
+   "split_deg": 0.085,
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+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+   "held_out_px_before": 6.868,
+   "inliers": 4215,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3355,
+    0.4906,
+    -1.777
+   ],
+   "split_deg": 0.0449,
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+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "b4f9de984c5392385247eaf336b866a978dd8777a05b986899515bbe6ec49b4e",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
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+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "6fa3b169024d49186761604aeda794c027a4d9c7b1ee5fc4a21779b76d705e27",
+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
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+   "sha256": "d8cf85c4c8cf64dc8f3c107b8b1c9bdc4b9225efbe530df2dcb0e68872b98d65",
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+  }
+ },
+ "input_fingerprint": "ea7a3e5a8b3c653c",
+ "kind": "online_calibration",
+ "output_sha256": "d988d25c09563e1a052230786a2827e8188437d5c287baeb9963a2a7e05cd36d",
+ "overlap": {
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+  "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_front": 46.529,
+  "right": 36.948,
+  "right_eye": 40.287,
+  "right_front": 46.053
+ },
+ "runtime": {
+  "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/P01/session_007/cameras/slam.npz b/actions/locomotion_primitives/P01/session_007/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3e17823331eebf5aa8a97c84929895db7950257e
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_007/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b6329eed049b7244b75352f9958599967ce8cb817bf63d3c9952eb5ba13f7f5
+size 540275
diff --git a/actions/locomotion_primitives/P01/session_007/meta.json b/actions/locomotion_primitives/P01/session_007/meta.json
index 1659809e2907c93867192fc30bdc416e1dd784a9..d47ce4778cc1e1f9ba124c4fffbb404d9b2fe0b2 100644
--- a/actions/locomotion_primitives/P01/session_007/meta.json
+++ b/actions/locomotion_primitives/P01/session_007/meta.json
@@ -334,8 +334,8 @@
   "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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+     -0.237,
+     -0.0139
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+     "median": 7.96,
+     "p90": 18.62
+    },
+    "samples": 2515,
+    "accepted": 2449,
+    "wrist_pos_err_mm_median": 61.2,
+    "per_camera": {
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+      "accepted": 2449,
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+      "offset_deg": 15.6,
+      "tier": "primary",
+      "dev_deg_median": 7.96,
+      "wrist_pos_err_mm_median": 61.2
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 1334,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9989,
+    "observed_fraction_of_valid": 0.9989,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.8,
+     "smplx": 0.91
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 7.5
+     },
+     "registered": {
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+     }
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+     -0.0986,
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+     "median": 7.93,
+     "p90": 28.77
+    },
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+    "accepted": 2178,
+    "wrist_pos_err_mm_median": 63.3,
+    "per_camera": {
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+      "offset_deg": 10.39,
+      "tier": "primary",
+      "dev_deg_median": 7.93,
+      "wrist_pos_err_mm_median": 63.3
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+     "interpolated": 2396,
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+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9989,
+    "observed_fraction_of_valid": 0.9989,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.7
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 5.9
+     },
+     "registered": {
+      "median": 5.1,
+      "p90": 5.9
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:40:47.322599+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/P01/session_007",
   "family": "locomotion_primitives",
   "primitive": "P01",
   "source_session": "20260831/P01/20260831_075356_session32"
+ },
+ "task": {
+  "primitive": "P01",
+  "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
  }
 }
diff --git a/actions/locomotion_primitives/P01/session_007/motions/hands_mano.npz b/actions/locomotion_primitives/P01/session_007/motions/hands_mano.npz
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--- a/actions/locomotion_primitives/P01/session_007/motions/smplx.npz
+++ b/actions/locomotion_primitives/P01/session_007/motions/smplx.npz
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diff --git a/actions/locomotion_primitives/P01/session_008/annotations.json b/actions/locomotion_primitives/P01/session_008/annotations.json
new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_008/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",
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+ ]
+}
diff --git a/actions/locomotion_primitives/P01/session_008/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P01/session_008/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e680e829aad035691ea619288a29267c4dcbe78
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_008/cameras/gsi_online_calibration.json
@@ -0,0 +1,265 @@
+{
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+    "pair": [
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+     "right"
+    ]
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+  "median_px": 0.366
+ },
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+   "accepted": true,
+   "against": [
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+    "right_front",
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+    0.9826,
+    0.2911
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+   "split_deg": 0.0489,
+   "usable": true
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+    "right_front",
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+    "left",
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+   "inliers": 2894,
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+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+    0.0348
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+    "left_eye",
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+    7.77,
+    10.78
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+  },
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+    "left_eye",
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+    "left",
+    "right"
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+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
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+ "input_fingerprint": "4a92f7eb53e1b554",
+ "kind": "online_calibration",
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+  "right_front-left_eye": 0.711,
+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
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+ "picture_change": {
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+  "right_eye": 40.001,
+  "right_front": 45.281
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P01/session_008/cameras/slam.npz b/actions/locomotion_primitives/P01/session_008/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f7a59171b3be5737d3153c7f7f9b5a0ae37d80ef
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_008/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5858ff37e95a1057c2a8845518c6377008dcc03a99f71379adc9f0160f70ac4f
+size 540173
diff --git a/actions/locomotion_primitives/P01/session_008/meta.json b/actions/locomotion_primitives/P01/session_008/meta.json
index fb9028c4f6cd71253a2ce5a0c3bd17769d41429f..9f7d39e59ac7f3cec17774f2a8ee93c293108292 100644
--- a/actions/locomotion_primitives/P01/session_008/meta.json
+++ b/actions/locomotion_primitives/P01/session_008/meta.json
@@ -332,8 +332,8 @@
   "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 @@
   "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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+     -0.2219,
+     -0.029
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+     "median": 7.64,
+     "p90": 18.52
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+    "samples": 2604,
+    "accepted": 2550,
+    "wrist_pos_err_mm_median": 59.3,
+    "per_camera": {
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+      "samples": 2604,
+      "accepted": 2550,
+      "gate_deg": 30.0,
+      "offset_deg": 14.72,
+      "tier": "primary",
+      "dev_deg_median": 7.64,
+      "wrist_pos_err_mm_median": 59.3
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 966,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9989,
+    "observed_fraction_of_valid": 0.9989,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 11.92,
+     "smplx": 1.01
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
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+      "p90": 8.0
+     },
+     "registered": {
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+    "dev_deg": {
+     "median": 6.85,
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+    "samples": 2359,
+    "accepted": 2162,
+    "wrist_pos_err_mm_median": 75.1,
+    "per_camera": {
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+      "accepted": 2162,
+      "gate_deg": 30.0,
+      "offset_deg": 10.78,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 75.1
+     }
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+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
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+    "observed_fraction_of_valid": 0.9989,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.69
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.2,
+      "p90": 8.1
+     },
+     "registered": {
+      "median": 6.7,
+      "p90": 7.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:40:47.727218+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/P01/session_008",
   "family": "locomotion_primitives",
   "primitive": "P01",
   "source_session": "20260831/P01/20260831_075541_session33"
+ },
+ "task": {
+  "primitive": "P01",
+  "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
  }
 }
diff --git a/actions/locomotion_primitives/P01/session_008/motions/hands_mano.npz b/actions/locomotion_primitives/P01/session_008/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bbe127ab8b6e044287867ed44325641406c38f79
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_008/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3386927
diff --git a/actions/locomotion_primitives/P01/session_008/motions/smplx.npz b/actions/locomotion_primitives/P01/session_008/motions/smplx.npz
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--- a/actions/locomotion_primitives/P01/session_008/motions/smplx.npz
+++ b/actions/locomotion_primitives/P01/session_008/motions/smplx.npz
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diff --git a/actions/locomotion_primitives/P01/session_009/annotations.json b/actions/locomotion_primitives/P01/session_009/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7da7c033e1a00a0af5c559e3eaf627b80939927
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_009/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": "P01",
+ "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint.",
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+  }
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+   "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P01/session_009/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P01/session_009/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0bc32f9cc73b02828d525b548107bcb37968085
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_009/cameras/gsi_online_calibration.json
@@ -0,0 +1,264 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 233,
+    "median_px": 18.14,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.375
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+   "held_out_px_before": 6.275,
+   "inliers": 1770,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.0472,
+    0.8598,
+    0.313
+   ],
+   "split_deg": 0.0747,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.1125,
+   "gate_fail": [],
+   "held_out_px_after": 0.346,
+   "held_out_px_before": 2.81,
+   "inliers": 3020,
+   "position_fitted": true,
+   "position_mm": [
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+    6.69,
+    11.77
+   ],
+   "position_sigma_mm": 0.305,
+   "position_split_mm": 4.004,
+   "rotvec_deg": [
+    0.016,
+    0.7613,
+    -0.8111
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+   "split_deg": 0.1357,
+   "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": 2.644,
+   "inliers": 1502,
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+   "rotvec_deg": [
+    0.3422,
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+    -0.0201
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+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
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+   "held_out_px_before": 2.079,
+   "inliers": 3185,
+   "position_fitted": true,
+   "position_mm": [
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+    5.36,
+    9.59
+   ],
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+   "position_split_mm": 3.827,
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+    0.0973,
+    0.3554,
+    -0.6257
+   ],
+   "split_deg": 0.1497,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+   "held_out_px_before": 6.607,
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+   "position_fitted": false,
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+    0.482,
+    -1.7851
+   ],
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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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+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
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+   "sha256": "b35634d14917362b0689feb68341417eafecc026b709152b2fc9cb2475104fb4",
+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
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+  },
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+   "sha256": "69230e120d73e83ed929c63b1df4aefde8236b482b5ff4cc0ce764fdf24f0a9f",
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+  }
+ },
+ "input_fingerprint": "8634a708d284f9d4",
+ "kind": "online_calibration",
+ "output_sha256": "d74b0a88dc70f4ecac8f67dd6a9ade3490523f5396d52606f2c5ee5542b5e319",
+ "overlap": {
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+  "left_front-left_eye": 0.709,
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+  "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": 36.721,
+  "left_front": 45.01,
+  "right": 38.954,
+  "right_eye": 39.04,
+  "right_front": 44.57
+ },
+ "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/P01/session_009/cameras/slam.npz b/actions/locomotion_primitives/P01/session_009/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..aafc6179a5b81ea1857ccb5f9e6e3459faead97a
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_009/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7446d6c13930fbf22a3f0aebcf57c2ba2e119b3d9e041e1e48b6b4e4928679b3
+size 626350
diff --git a/actions/locomotion_primitives/P01/session_009/meta.json b/actions/locomotion_primitives/P01/session_009/meta.json
index 6022a680dd5ad1ea008d2e1190183d9eb5ba392c..b8b63e610ff3d157ee708be0485415b929986052 100644
--- a/actions/locomotion_primitives/P01/session_009/meta.json
+++ b/actions/locomotion_primitives/P01/session_009/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": {
@@ -514,10 +514,124 @@
   "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": 15.94,
+    "offset_rotvec": [
+     -0.1332,
+     -0.2436,
+     -0.0186
+    ],
+    "dev_deg": {
+     "median": 8.19,
+     "p90": 19.62
+    },
+    "samples": 2808,
+    "accepted": 2706,
+    "wrist_pos_err_mm_median": 58.3,
+    "per_camera": {
+     "head": {
+      "samples": 2808,
+      "accepted": 2706,
+      "gate_deg": 30.0,
+      "offset_deg": 15.94,
+      "tier": "primary",
+      "dev_deg_median": 8.19,
+      "wrist_pos_err_mm_median": 58.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11010,
+     "interpolated": 2062,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9991,
+    "observed_fraction_of_valid": 0.9991,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.21,
+     "smplx": 0.88
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.7,
+      "p90": 10.4
+     },
+     "registered": {
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+      "p90": 11.6
+     }
+    }
+   },
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+    "offset_rotvec": [
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+     -0.0828,
+     0.1247
+    ],
+    "dev_deg": {
+     "median": 8.65,
+     "p90": 26.22
+    },
+    "samples": 2677,
+    "accepted": 2499,
+    "wrist_pos_err_mm_median": 66.6,
+    "per_camera": {
+     "head": {
+      "samples": 2677,
+      "accepted": 2499,
+      "gate_deg": 30.0,
+      "offset_deg": 9.51,
+      "tier": "primary",
+      "dev_deg_median": 8.65,
+      "wrist_pos_err_mm_median": 66.6
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 2850,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9991,
+    "observed_fraction_of_valid": 0.9991,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 11.8,
+     "smplx": 0.7
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.8,
+      "p90": 6.7
+     },
+     "registered": {
+      "median": 5.6,
+      "p90": 6.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:40:48.225266+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/P01/session_009",
   "family": "locomotion_primitives",
   "primitive": "P01",
   "source_session": "20260831/P01/20260831_075738_session34"
+ },
+ "task": {
+  "primitive": "P01",
+  "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
  }
 }
diff --git a/actions/locomotion_primitives/P01/session_009/motions/hands_mano.npz b/actions/locomotion_primitives/P01/session_009/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9678356e0096c08e9bc85e542e5197e67f27ff6b
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_009/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5186a0acc124b4c332e7bbc60c6da73d4869b7dab8edad67374a1077c579ddad
+size 3755610
diff --git a/actions/locomotion_primitives/P01/session_009/motions/smplx.npz b/actions/locomotion_primitives/P01/session_009/motions/smplx.npz
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--- a/actions/locomotion_primitives/P01/session_009/motions/smplx.npz
+++ b/actions/locomotion_primitives/P01/session_009/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P01/session_010/annotations.json b/actions/locomotion_primitives/P01/session_010/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..afed2517e984679a9cdc8478df6ef22eb7e2d680
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_010/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": "P01",
+ "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint.",
+ "segments": [
+  {
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+   "duration_s": 88.966656,
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+  }
+ ],
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+   "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
+  },
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+   "end_s": 15.313,
+   "t_start": 9.2879,
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+   "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
+  },
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+  },
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+  },
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+   "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
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+   "segment": "segment1",
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+   "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
+  },
+  {
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+   "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
+  },
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+   "t_start": 67.4479,
+   "t_end": 73.7629,
+   "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
+  },
+  {
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+   "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P01/session_010/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P01/session_010/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecce2ae2ef1fe8ce80dec88ac7174c54cb992627
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_010/cameras/gsi_online_calibration.json
@@ -0,0 +1,263 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 143,
+    "median_px": 15.83,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.378
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.9449,
+   "gate_fail": [],
+   "held_out_px_after": 0.78,
+   "held_out_px_before": 5.981,
+   "inliers": 1618,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.0638,
+    0.8755,
+    0.3496
+   ],
+   "split_deg": 0.1058,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0363,
+   "gate_fail": [],
+   "held_out_px_after": 0.431,
+   "held_out_px_before": 2.608,
+   "inliers": 3054,
+   "position_fitted": true,
+   "position_mm": [
+    -8.03,
+    6.13,
+    11.95
+   ],
+   "position_sigma_mm": 0.312,
+   "position_split_mm": 3.683,
+   "rotvec_deg": [
+    0.0097,
+    0.6944,
+    -0.7691
+   ],
+   "split_deg": 0.0811,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.4486,
+   "gate_fail": [],
+   "held_out_px_after": 0.632,
+   "held_out_px_before": 2.861,
+   "inliers": 1586,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.4329,
+    -0.1171,
+    0.0132
+   ],
+   "split_deg": 0.1492,
+   "usable": true
+  },
+  "right_eye": {
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.6684,
+   "gate_fail": [],
+   "held_out_px_after": 0.422,
+   "held_out_px_before": 2.433,
+   "inliers": 3168,
+   "position_fitted": true,
+   "position_mm": [
+    -8.54,
+    4.71,
+    9.52
+   ],
+   "position_sigma_mm": 0.316,
+   "position_split_mm": 3.1,
+   "rotvec_deg": [
+    0.113,
+    0.3072,
+    -0.5828
+   ],
+   "split_deg": 0.1136,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+   "held_out_px_before": 6.775,
+   "inliers": 3867,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.342,
+    0.4778,
+    -1.8002
+   ],
+   "split_deg": 0.076,
+   "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": "ca87df83e723b50287d72b5c8b076693e51e724f9bf2d0ac260e73f6e6f44ef9",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
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+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "43b6e50e61b64ccca1356b5940de36cd842f9b8027c542d3f7188d62f241f6ca",
+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
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+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "55851ef4557a90c2",
+ "kind": "online_calibration",
+ "output_sha256": "6ca0d6a5140decd64cf835b1a114a6dc4405e9549d4457cc6b19abefc67a92b0",
+ "overlap": {
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+  "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": {
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+  "left_eye": 36.378,
+  "left_front": 44.241,
+  "right": 37.995,
+  "right_eye": 38.834,
+  "right_front": 44.413
+ },
+ "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/P01/session_010/cameras/slam.npz b/actions/locomotion_primitives/P01/session_010/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b19634ab6c72f774399371c402f6884981817e30
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_010/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:136e2fc0963d31ccbfc5b9399b95e80b20d5d64062a9b08a1cec85fa91234b88
+size 511631
diff --git a/actions/locomotion_primitives/P01/session_010/meta.json b/actions/locomotion_primitives/P01/session_010/meta.json
index 89037fe1cfbc9c983de2d238e8fb927b81cc4785..2b16513cf18c00ec4f51941d839245eca3e9a912 100644
--- a/actions/locomotion_primitives/P01/session_010/meta.json
+++ b/actions/locomotion_primitives/P01/session_010/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": {
@@ -514,10 +514,124 @@
   "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": 16.3,
+    "offset_rotvec": [
+     -0.1322,
+     -0.2514,
+     -0.0149
+    ],
+    "dev_deg": {
+     "median": 8.43,
+     "p90": 20.42
+    },
+    "samples": 2306,
+    "accepted": 2210,
+    "wrist_pos_err_mm_median": 53.7,
+    "per_camera": {
+     "head": {
+      "samples": 2306,
+      "accepted": 2210,
+      "gate_deg": 30.0,
+      "offset_deg": 16.3,
+      "tier": "primary",
+      "dev_deg_median": 8.43,
+      "wrist_pos_err_mm_median": 53.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 8986,
+     "interpolated": 1686,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9989,
+    "observed_fraction_of_valid": 0.9989,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 14.14,
+     "smplx": 0.98
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.9,
+      "p90": 7.5
+     },
+     "registered": {
+      "median": 6.3,
+      "p90": 6.9
+     }
+    }
+   },
+   "right": {
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+    "offset_rotvec": [
+     -0.0715,
+     -0.0854,
+     0.1397
+    ],
+    "dev_deg": {
+     "median": 8.44,
+     "p90": 28.86
+    },
+    "samples": 2175,
+    "accepted": 1981,
+    "wrist_pos_err_mm_median": 65.2,
+    "per_camera": {
+     "head": {
+      "samples": 2175,
+      "accepted": 1981,
+      "gate_deg": 30.0,
+      "offset_deg": 10.24,
+      "tier": "primary",
+      "dev_deg_median": 8.44,
+      "wrist_pos_err_mm_median": 65.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 8108,
+     "interpolated": 2564,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9989,
+    "observed_fraction_of_valid": 0.9989,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.05,
+     "smplx": 0.74
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.8,
+      "p90": 7.0
+     },
+     "registered": {
+      "median": 5.6,
+      "p90": 6.8
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:40:47.728796+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/P01/session_010",
   "family": "locomotion_primitives",
   "primitive": "P01",
   "source_session": "20260831/P01/20260831_075936_session35"
+ },
+ "task": {
+  "primitive": "P01",
+  "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
  }
 }
diff --git a/actions/locomotion_primitives/P01/session_010/motions/hands_mano.npz b/actions/locomotion_primitives/P01/session_010/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..862e7de5f165f1dd4f4caafb4b736c4ead50b14b
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_010/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cc6a88c411feb6c028986b9e007c1edf32246d96bad5f67127fdcf43622002f
+size 3067710
diff --git a/actions/locomotion_primitives/P01/session_010/motions/smplx.npz b/actions/locomotion_primitives/P01/session_010/motions/smplx.npz
index 5f7f5daec2f7209056ffd0f8ebd56514c7cc585e..87c75a2775c7e1ed32e48312b95ea4c4ee5aa905 100644
--- a/actions/locomotion_primitives/P01/session_010/motions/smplx.npz
+++ b/actions/locomotion_primitives/P01/session_010/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2bcfc3aee4840da25b5a1285ecfa9b9e285405e622c0a9156b72fbb582d49ffe
-size 4111360
+oid sha256:018306e66b115b1e24505a411551defecba04eedd716f6a96199672384af4f05
+size 7702139
diff --git a/actions/locomotion_primitives/P01/session_011/annotations.json b/actions/locomotion_primitives/P01/session_011/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ced2aa388a5e9951340d018218349d4bba003d6
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_011/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": "P01",
+ "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 88.966544,
+   "video": "left_eye",
+   "video_t_start": 0.038259721568606686
+  }
+ ],
+ "episodes": [
+  {
+   "id": "63e41e7e-6d55-4a44-9819-602dcfdf4988",
+   "segment": "segment1",
+   "action": "P01",
+   "quality": "valid",
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+   "end_s": 7.44,
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P01/session_011/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P01/session_011/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..f175ad0a0102b61291b38140cf99aa886277840c
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_011/cameras/gsi_online_calibration.json
@@ -0,0 +1,264 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 151,
+    "median_px": 15.94,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.356
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.9447,
+   "gate_fail": [],
+   "held_out_px_after": 0.651,
+   "held_out_px_before": 6.479,
+   "inliers": 1652,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.1483,
+    0.8843,
+    0.2974
+   ],
+   "split_deg": 0.0616,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0217,
+   "gate_fail": [],
+   "held_out_px_after": 0.367,
+   "held_out_px_before": 2.445,
+   "inliers": 3000,
+   "position_fitted": true,
+   "position_mm": [
+    -8.35,
+    6.2,
+    11.31
+   ],
+   "position_sigma_mm": 0.267,
+   "position_split_mm": 2.516,
+   "rotvec_deg": [
+    0.0351,
+    0.6461,
+    -0.7907
+   ],
+   "split_deg": 0.036,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.3927,
+   "gate_fail": [],
+   "held_out_px_after": 0.559,
+   "held_out_px_before": 2.669,
+   "inliers": 1584,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.3683,
+    -0.1282,
+    -0.0458
+   ],
+   "split_deg": 0.0111,
+   "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": 0.356,
+   "held_out_px_before": 2.312,
+   "inliers": 3134,
+   "position_fitted": true,
+   "position_mm": [
+    -8.28,
+    4.9,
+    9.97
+   ],
+   "position_sigma_mm": 0.261,
+   "position_split_mm": 2.685,
+   "rotvec_deg": [
+    0.1274,
+    0.2763,
+    -0.6098
+   ],
+   "split_deg": 0.0452,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+   "held_out_px_before": 6.544,
+   "inliers": 4370,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3512,
+    0.4285,
+    -1.8382
+   ],
+   "split_deg": 0.0136,
+   "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": "9505e0c09fd6467f0246b51f5a8db2b89843db1a41a8b0bbb596b827d4c359b3",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
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+   "sha256": "72d89ba9fed496da990aa240ba382a6bddbc2fafb713389fc76b2973d2c99fdc",
+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "4ce5adc075ac78040794e4494b8ddb7d72b328e5ac0dfba08f29d392df973334",
+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "650a083858aeadb2b1c023e72c69619653c43e4921ed9c79b169016bab566670",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "7f728f9267e841fa",
+ "kind": "online_calibration",
+ "output_sha256": "e36aeae63919a792af65bfdbbb80c5944506d0587cca49b7c8072c9db02c97ae",
+ "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": 42.293,
+  "left_eye": 37.433,
+  "left_front": 46.002,
+  "right": 38.361,
+  "right_eye": 39.848,
+  "right_front": 46.168
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
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+   8006657946777,
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+   8011657935666,
+   8013657957888,
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+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P01/session_011/cameras/slam.npz b/actions/locomotion_primitives/P01/session_011/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6c7d9b68f8661fd59f423adb860eacfa06380b21
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_011/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94961b782ae66e1a922b8cb6d565809f6e36958a9c0fbee12f0fe7d4a9a875b1
+size 511586
diff --git a/actions/locomotion_primitives/P01/session_011/meta.json b/actions/locomotion_primitives/P01/session_011/meta.json
index c860358cafd67d7ab132ad5f4b2766f3880cb895..d1d9c067e375d289ecf8bcc5cd3b34b393270367 100644
--- a/actions/locomotion_primitives/P01/session_011/meta.json
+++ b/actions/locomotion_primitives/P01/session_011/meta.json
@@ -334,8 +334,8 @@
   "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": {
+    "offset_deg": 15.65,
+    "offset_rotvec": [
+     -0.1301,
+     -0.2398,
+     -0.0141
+    ],
+    "dev_deg": {
+     "median": 8.14,
+     "p90": 20.08
+    },
+    "samples": 2354,
+    "accepted": 2269,
+    "wrist_pos_err_mm_median": 56.8,
+    "per_camera": {
+     "head": {
+      "samples": 2354,
+      "accepted": 2269,
+      "gate_deg": 30.0,
+      "offset_deg": 15.65,
+      "tier": "primary",
+      "dev_deg_median": 8.14,
+      "wrist_pos_err_mm_median": 56.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9224,
+     "interpolated": 1448,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9989,
+    "observed_fraction_of_valid": 0.9989,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.8,
+     "smplx": 0.97
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.5,
+      "p90": 10.0
+     },
+     "registered": {
+      "median": 7.7,
+      "p90": 10.8
+     }
+    }
+   },
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+    "offset_rotvec": [
+     -0.0828,
+     -0.0996,
+     0.1359
+    ],
+    "dev_deg": {
+     "median": 7.87,
+     "p90": 25.97
+    },
+    "samples": 2183,
+    "accepted": 2024,
+    "wrist_pos_err_mm_median": 67.5,
+    "per_camera": {
+     "head": {
+      "samples": 2183,
+      "accepted": 2024,
+      "gate_deg": 30.0,
+      "offset_deg": 10.76,
+      "tier": "primary",
+      "dev_deg_median": 7.87,
+      "wrist_pos_err_mm_median": 67.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 8258,
+     "interpolated": 2414,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9989,
+    "observed_fraction_of_valid": 0.9989,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.06,
+     "smplx": 0.73
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.1,
+      "p90": 7.6
+     },
+     "registered": {
+      "median": 5.2,
+      "p90": 7.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:40:44.820488+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/P01/session_011",
   "family": "locomotion_primitives",
   "primitive": "P01",
   "source_session": "20260831/P01/20260831_080113_session36"
+ },
+ "task": {
+  "primitive": "P01",
+  "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
  }
 }
diff --git a/actions/locomotion_primitives/P01/session_011/motions/hands_mano.npz b/actions/locomotion_primitives/P01/session_011/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..62050e24efe1c0d4c7ab8b62517afa6b71368005
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_011/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:020539d46a51ab29e4e7d2c07eb353ee185bd65de6b8f353ccb5278fe428fc16
+size 3103179
diff --git a/actions/locomotion_primitives/P01/session_011/motions/smplx.npz b/actions/locomotion_primitives/P01/session_011/motions/smplx.npz
index 548a88adf22a1280974424d1ba86fa8606865591..c72fc774e0646206acd745c4125a128d976cc4a1 100644
--- a/actions/locomotion_primitives/P01/session_011/motions/smplx.npz
+++ b/actions/locomotion_primitives/P01/session_011/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:02410041209ea5e21ee3c85b46ed355c637a82125d62e19ff839fb0bee818b78
-size 4119717
+oid sha256:b204a4a67889d742898d806d2091aac8964bfa901b59c9a4e7f49004617cf22a
+size 7710383
diff --git a/actions/locomotion_primitives/P01/session_012/annotations.json b/actions/locomotion_primitives/P01/session_012/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..f07f98e2ec70e336b78d822855565ba69b5eb749
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_012/annotations.json
@@ -0,0 +1,149 @@
+{
+ "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": "P01",
+ "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 118.966689,
+   "video": "left_eye",
+   "video_t_start": 0.03762349056434644
+  }
+ ],
+ "episodes": [
+  {
+   "id": "876e5be1-7676-408d-981d-77382642f04d",
+   "segment": "segment1",
+   "action": "P01",
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+   "end_s": 7.277,
+   "t_start": 0.6536,
+   "t_end": 7.3146,
+   "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P01",
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+   "t_start": 10.4296,
+   "t_end": 16.2696,
+   "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
+  },
+  {
+   "id": "d8ad9867-d7cf-4eea-80da-2e99b1a6761c",
+   "segment": "segment1",
+   "action": "P01",
+   "quality": "valid",
+   "start_s": 18.837,
+   "end_s": 25.818,
+   "t_start": 18.8746,
+   "t_end": 25.8556,
+   "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
+  },
+  {
+   "id": "e598b07c-a6b1-44cd-ba0d-0cbde521f8c2",
+   "segment": "segment1",
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P01/session_012/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P01/session_012/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..3dff7c7ef06cfbae1448871da2f9e85184556627
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_012/cameras/gsi_online_calibration.json
@@ -0,0 +1,262 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 129,
+    "median_px": 17.09,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.353
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.8368,
+   "gate_fail": [],
+   "held_out_px_after": 0.498,
+   "held_out_px_before": 7.854,
+   "inliers": 1912,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.1113,
+    0.6837,
+    0.4696
+   ],
+   "split_deg": 0.0539,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0321,
+   "gate_fail": [],
+   "held_out_px_after": 0.327,
+   "held_out_px_before": 2.613,
+   "inliers": 3311,
+   "position_fitted": true,
+   "position_mm": [
+    -7.83,
+    7.12,
+    13.96
+   ],
+   "position_sigma_mm": 0.362,
+   "position_split_mm": 3.859,
+   "rotvec_deg": [
+    0.0124,
+    0.7167,
+    -0.7425
+   ],
+   "split_deg": 0.1362,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.2206,
+   "gate_fail": [],
+   "held_out_px_after": 0.475,
+   "held_out_px_before": 2.481,
+   "inliers": 2255,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.1465,
+    -0.1121,
+    -0.1209
+   ],
+   "split_deg": 0.0334,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.7171,
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+   "held_out_px_after": 0.337,
+   "held_out_px_before": 2.248,
+   "inliers": 3606,
+   "position_fitted": true,
+   "position_mm": [
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+    10.03,
+    8.1
+   ],
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+   "position_split_mm": 3.551,
+   "rotvec_deg": [
+    0.2073,
+    0.3246,
+    -0.6048
+   ],
+   "split_deg": 0.1306,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+   "position_fitted": false,
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+    -0.3385,
+    0.4825,
+    -1.8975
+   ],
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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": {
+   "sha256": "5c3061f9f61facf017b775534e6946b964c1d5be38b22c3dcc379402cde32bdd",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
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+   "sha256": "cb98b9d7807b9c954f98e67cf6c9fc2f7d13f4accaa0950349fb43b2675ea6b3",
+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "ceb63398e57a6c1de90565c2d74483692da6a42c5bdcf7d7d2f8f4f4bf94f5c8",
+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "7f5fcc854ed987df701317f54a1ecdc855c2dc55f42ec8d602c80d26f1170591",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "8c2495007b6d369a",
+ "kind": "online_calibration",
+ "output_sha256": "2833adb58efba0c3d1b012e11e4eda5011cb97fbd92c034d3a03bf83eb0738cb",
+ "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": 34.555,
+  "left_eye": 32.062,
+  "left_front": 40.338,
+  "right": 39.804,
+  "right_eye": 34.067,
+  "right_front": 40.07
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
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+   4054677060000,
+   4055677060000,
+   4060677060000,
+   4061677060000,
+   4063677060000,
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+   4158677060000,
+   4159677060000,
+   4161677071111,
+   4162677037777
+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P01/session_012/cameras/slam.npz b/actions/locomotion_primitives/P01/session_012/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..99edd671cf20715b30cd1f1af888e0ff78658749
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_012/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f6c5555432991d82904f105041fab4992ad4732f1ba0c00623725bc8d2c918a
+size 683342
diff --git a/actions/locomotion_primitives/P01/session_012/meta.json b/actions/locomotion_primitives/P01/session_012/meta.json
index 6d3b9c8ade22b57050a7595846451ae1a4ac0f0f..8bd9a9261fe91b9293716839dcc8c980ad19b549 100644
--- a/actions/locomotion_primitives/P01/session_012/meta.json
+++ b/actions/locomotion_primitives/P01/session_012/meta.json
@@ -349,8 +349,8 @@
   "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": 12.31,
+    "offset_rotvec": [
+     -0.1361,
+     -0.1293,
+     -0.1045
+    ],
+    "dev_deg": {
+     "median": 7.56,
+     "p90": 17.97
+    },
+    "samples": 2759,
+    "accepted": 2636,
+    "wrist_pos_err_mm_median": 55.7,
+    "per_camera": {
+     "head": {
+      "samples": 2759,
+      "accepted": 2636,
+      "gate_deg": 30.0,
+      "offset_deg": 12.31,
+      "tier": "primary",
+      "dev_deg_median": 7.56,
+      "wrist_pos_err_mm_median": 55.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10801,
+     "interpolated": 2726,
+     "mean_hand": 724,
+     "no_body_fit": 33
+    },
+    "observed_fraction": 0.947,
+    "observed_fraction_of_valid": 0.9492,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 8.79,
+     "smplx": 1.31
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.4,
+      "p90": 7.0
+     },
+     "registered": {
+      "median": 5.5,
+      "p90": 7.8
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 10.25,
+    "offset_rotvec": [
+     -0.0954,
+     -0.0816,
+     0.1274
+    ],
+    "dev_deg": {
+     "median": 7.95,
+     "p90": 23.75
+    },
+    "samples": 2744,
+    "accepted": 2580,
+    "wrist_pos_err_mm_median": 73.0,
+    "per_camera": {
+     "head": {
+      "samples": 2744,
+      "accepted": 2580,
+      "gate_deg": 30.0,
+      "offset_deg": 10.25,
+      "tier": "primary",
+      "dev_deg_median": 7.95,
+      "wrist_pos_err_mm_median": 73.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10594,
+     "interpolated": 2877,
+     "mean_hand": 780,
+     "no_body_fit": 33
+    },
+    "observed_fraction": 0.9431,
+    "observed_fraction_of_valid": 0.9453,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 11.5,
+     "smplx": 1.29
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.2,
+      "p90": 7.2
+     },
+     "registered": {
+      "median": 6.0,
+      "p90": 7.0
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T13:44:02.180133+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/P01/session_012",
   "family": "locomotion_primitives",
   "primitive": "P01",
   "source_session": "20260904/P01/20260904_021008_session5"
+ },
+ "task": {
+  "primitive": "P01",
+  "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
  }
 }
diff --git a/actions/locomotion_primitives/P01/session_012/motions/hands_mano.npz b/actions/locomotion_primitives/P01/session_012/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..521b047001fc7fa29171ec4b15ab94c4b74782fa
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_012/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:571bea56d0f73522f9f4866f27cc8365fe3d6c5a1329a7ae4febfbf40bf9dfec
+size 3895527
diff --git a/actions/locomotion_primitives/P01/session_012/motions/smplx.npz b/actions/locomotion_primitives/P01/session_012/motions/smplx.npz
index 44ad30c4ceecf86b5d86ddc8544b4791048ff898..cff3e47a08267173458da3ad746931a77004dc61 100644
--- a/actions/locomotion_primitives/P01/session_012/motions/smplx.npz
+++ b/actions/locomotion_primitives/P01/session_012/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1a5a0bc5ee9929fff22f09f5bc73b96801d28ad92def7b26ddce151bb653bd97
-size 5483373
+oid sha256:e2bcd60d9f8feae480a4a6371e69fa92682aa383fa297ce7eac2eeae525913e3
+size 10084222
diff --git a/actions/locomotion_primitives/P01/session_013/meta.json b/actions/locomotion_primitives/P01/session_013/meta.json
index b3433be71c923a9073deb8d482e3350e9ce91f5d..f770efae233ae220f8c661f4494c3c047b4fc2b0 100644
--- a/actions/locomotion_primitives/P01/session_013/meta.json
+++ b/actions/locomotion_primitives/P01/session_013/meta.json
@@ -503,5 +503,9 @@
   "family": "locomotion_primitives",
   "primitive": "P01",
   "source_session": "20260908/P01/20260908_123019_session169"
+ },
+ "task": {
+  "primitive": "P01",
+  "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
  }
 }
diff --git a/actions/locomotion_primitives/P01/session_014/annotations.json b/actions/locomotion_primitives/P01/session_014/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..986abd06980796c39557d3cbbbf4e59dec0e0f0b
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_014/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": "P01",
+ "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 83.966622,
+   "video": "left_eye",
+   "video_t_start": 0.03870939718692701
+  }
+ ],
+ "episodes": [
+  {
+   "id": "29b48c0c-a86d-467b-8689-0ef39482ba4b",
+   "segment": "segment1",
+   "action": "P01",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 5.799,
+   "t_start": 0.0387,
+   "t_end": 5.8377,
+   "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
+  },
+  {
+   "id": "490b5537-a536-4313-a8d0-56248b3dadd2",
+   "segment": "segment1",
+   "action": "P01",
+   "quality": "valid",
+   "start_s": 8.127,
+   "end_s": 13.902,
+   "t_start": 8.1657,
+   "t_end": 13.9407,
+   "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
+  },
+  {
+   "id": "e1165eb2-ab34-4c6f-ba90-15e591af3d3a",
+   "segment": "segment1",
+   "action": "P01",
+   "quality": "valid",
+   "start_s": 16.317,
+   "end_s": 21.004,
+   "t_start": 16.3557,
+   "t_end": 21.0427,
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+}
diff --git a/actions/locomotion_primitives/P01/session_014/cameras/slam.npz b/actions/locomotion_primitives/P01/session_014/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..03082c50f9905bd562fffda3b997226f2bf9de6c
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_014/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf2d27377b5c734116f8fde2e5b79eb70238c5903e9ea28f234ea998c3951943
+size 479712
diff --git a/actions/locomotion_primitives/P01/session_014/meta.json b/actions/locomotion_primitives/P01/session_014/meta.json
index a5483505ae12ac9525cb70e88306f0dcff0d20e1..07adc840a05a70a1d47a36338747a7a545cd0dd7 100644
--- a/actions/locomotion_primitives/P01/session_014/meta.json
+++ b/actions/locomotion_primitives/P01/session_014/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)",
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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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@@ -511,10 +511,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.7029912523800689
  },
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   "family": "locomotion_primitives",
   "primitive": "P01",
   "source_session": "20260909/P01/20260909_033300_session54"
+ },
+ "task": {
+  "primitive": "P01",
+  "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
  }
 }
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--- /dev/null
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+size 2369305
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--- /dev/null
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@@ -0,0 +1,149 @@
+{
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+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P01",
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+}
diff --git a/actions/locomotion_primitives/P01/session_015/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P01/session_015/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c33566a5fe0a8937b7f86a277c65c7c97e3d46d
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_015/cameras/gsi_online_calibration.json
@@ -0,0 +1,256 @@
+{
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+}
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new file mode 100644
index 0000000000000000000000000000000000000000..79a9569c86bd37b622846636fc0b59078fe3b32e
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_015/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/P01/session_015/meta.json b/actions/locomotion_primitives/P01/session_015/meta.json
index 8acca9b75924514706b9ff33bca8b0ff3b844bac..ac47d114b4fe697e49a51f7278e61d7d0eb15a7b 100644
--- a/actions/locomotion_primitives/P01/session_015/meta.json
+++ b/actions/locomotion_primitives/P01/session_015/meta.json
@@ -328,8 +328,8 @@
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   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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@@ -516,10 +516,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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  },
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+ "task": {
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  }
 }
diff --git a/actions/locomotion_primitives/P01/session_015/motions/hands_mano.npz b/actions/locomotion_primitives/P01/session_015/motions/hands_mano.npz
new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_015/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_016/annotations.json
@@ -0,0 +1,149 @@
+{
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+ ]
+}
diff --git a/actions/locomotion_primitives/P01/session_016/cameras/slam.npz b/actions/locomotion_primitives/P01/session_016/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a6cc42be7d9afa02760ec894c8d03c0499e08cbd
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_016/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 770457
diff --git a/actions/locomotion_primitives/P01/session_016/meta.json b/actions/locomotion_primitives/P01/session_016/meta.json
index 1de6c25704120aec972846f07eaa9107c353d38f..333dad2cf1082b4968721aaded9db6f4212108d3 100644
--- a/actions/locomotion_primitives/P01/session_016/meta.json
+++ b/actions/locomotion_primitives/P01/session_016/meta.json
@@ -325,8 +325,8 @@
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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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@@ -517,10 +517,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.6121197913390333
  },
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+    "accepted": 2090,
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+      "tier": "primary",
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
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+  "generated_at_utc": "2026-11-03T19:01:51.650221+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/P01/session_016",
   "family": "locomotion_primitives",
   "primitive": "P01",
   "source_session": "20260914/P01/20260914_081415_session36"
+ },
+ "task": {
+  "primitive": "P01",
+  "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
  }
 }
diff --git a/actions/locomotion_primitives/P01/session_016/motions/hands_mano.npz b/actions/locomotion_primitives/P01/session_016/motions/hands_mano.npz
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index 44de7d03bd76e9273705757fdb179568504c68db..d86a53c90af1b2e71a8e65d4c5fe025bda75a5a7 100644
--- a/actions/locomotion_primitives/P01/session_016/motions/smplx.npz
+++ b/actions/locomotion_primitives/P01/session_016/motions/smplx.npz
@@ -1,3 +1,3 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..e7541de8f2adde0f13a3d5f4289c5f6d7ff8baf2
--- /dev/null
+++ b/actions/locomotion_primitives/P01/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": "P01",
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+}
diff --git a/actions/locomotion_primitives/P01/session_017/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P01/session_017/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..18876da3a246cd9f4ca11733f825efa57dd52c6b
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_017/cameras/gsi_online_calibration.json
@@ -0,0 +1,254 @@
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+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P01/session_017/cameras/slam.npz b/actions/locomotion_primitives/P01/session_017/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..96dbcd6f8388c8ac3f5566ba2936eee8ecdd153e
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_017/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 683547
diff --git a/actions/locomotion_primitives/P01/session_017/meta.json b/actions/locomotion_primitives/P01/session_017/meta.json
index 32b32c81af033610856b0eb2491970861db5d699..e3f1fbbba1b2d750a6d6ed621cc0305027ce88c5 100644
--- a/actions/locomotion_primitives/P01/session_017/meta.json
+++ b/actions/locomotion_primitives/P01/session_017/meta.json
@@ -330,8 +330,8 @@
   "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": 0.6062521975918781
  },
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+    "observed_fraction_of_valid": 0.8534,
+    "palm_axis_vs_markers_deg": {
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+    "hand_marker_to_mesh_mm": {
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+     },
+     "registered": {
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+      "p90": 8.8
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T23:06:00.488892+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/P01/session_017",
   "family": "locomotion_primitives",
   "primitive": "P01",
   "source_session": "20260916/P01/20260916_051440_session78"
+ },
+ "task": {
+  "primitive": "P01",
+  "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
  }
 }
diff --git a/actions/locomotion_primitives/P01/session_017/motions/hands_mano.npz b/actions/locomotion_primitives/P01/session_017/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4370660d8fd19b11ba14a649b3038ac8a19b1439
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_017/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3149640
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+++ b/actions/locomotion_primitives/P01/session_017/motions/smplx.npz
@@ -1,3 +1,3 @@
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+size 9861284
diff --git a/actions/locomotion_primitives/P01/session_018/annotations.json b/actions/locomotion_primitives/P01/session_018/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e821e5f66883eb27f7577caa379dd38adce884a
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_018/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": "P01",
+ "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint.",
+ "segments": [
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+   "duration_s": 78.966689,
+   "video": "left_eye",
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+  }
+ ],
+ "episodes": [
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P01/session_018/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P01/session_018/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..d29fca00d9232fb34cece202a074615709d5b2ec
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_018/cameras/gsi_online_calibration.json
@@ -0,0 +1,252 @@
+{
+ "camera_fit": {
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+  "groups_used": 14,
+  "median_px": 0.35
+ },
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+   "against": [
+    "left_front",
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+   "held_out_px_before": 4.408,
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+    -0.9157
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+   "usable": true
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+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
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+   "held_out_px_before": 6.048,
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+   "position_fitted": true,
+   "position_mm": [
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+    -10.54,
+    3.7
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+   "position_split_mm": 1.452,
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+    0.6274,
+    -1.8817
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+   "role": "rig origin"
+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+    0.1572
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+  },
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+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
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+    -9.65,
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+    -0.4835
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+   "split_deg": 0.031,
+   "usable": true
+  },
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+    "left",
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+    -0.0512,
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+   ],
+   "split_deg": 0.0074,
+   "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": "5a1555db08ce6bdc8283b0122d93223412da6369301ae0ea3c4ac2d9a6a68aaf",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "50b8d351f8e7a4b9620abd08969516693f0782eef063c77feab9ee978d616a07",
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+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "343a25928f4bd11336c9bc47405f7557c3cae264fc4e36fd3f7a90f15c054905",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "da2677c75bbc7b7f",
+ "kind": "online_calibration",
+ "output_sha256": "91e1060b4a39084733c8d01650f3796ed65cb7c085d03f75886ca0e58c2fc6c7",
+ "overlap": {
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+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
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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": 25.558,
+  "left_front": 33.453,
+  "right": 34.577,
+  "right_eye": 25.065,
+  "right_front": 32.042
+ },
+ "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/P01/session_018/cameras/slam.npz b/actions/locomotion_primitives/P01/session_018/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ea2a15b9d844ac4f92b1f7c93be9c305cb6e80f5
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_018/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 457291
diff --git a/actions/locomotion_primitives/P01/session_018/meta.json b/actions/locomotion_primitives/P01/session_018/meta.json
index d0f1aefb18ebcd345400d5cd00010dbb0d9c6cf4..3d481a516fc6c62df61d7c3c5eaeaf478f2c2d8a 100644
--- a/actions/locomotion_primitives/P01/session_018/meta.json
+++ b/actions/locomotion_primitives/P01/session_018/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": {
@@ -511,10 +511,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.255378769841327
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_deg": 34.33,
+    "offset_rotvec": [
+     0.504,
+     -0.2445,
+     -0.2127
+    ],
+    "dev_deg": {
+     "median": 12.34,
+     "p90": 30.12
+    },
+    "samples": 1008,
+    "accepted": 906,
+    "wrist_pos_err_mm_median": 92.7,
+    "per_camera": {
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+      "accepted": 906,
+      "gate_deg": 30.0,
+      "offset_deg": 34.33,
+      "tier": "primary",
+      "dev_deg_median": 12.34,
+      "wrist_pos_err_mm_median": 92.7
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 5196,
+     "mean_hand": 429,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9539,
+    "observed_fraction_of_valid": 0.9547,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 40.18,
+     "smplx": 0.52
+    },
+    "hand_marker_to_mesh_mm": {
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+      "median": 11.2,
+      "p90": 17.7
+     },
+     "registered": {
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+     }
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+     0.3803
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+    "dev_deg": {
+     "median": 13.45,
+     "p90": 30.74
+    },
+    "samples": 1366,
+    "accepted": 1216,
+    "wrist_pos_err_mm_median": 182.7,
+    "per_camera": {
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+      "samples": 1366,
+      "accepted": 1216,
+      "gate_deg": 30.0,
+      "offset_deg": 38.79,
+      "tier": "primary",
+      "dev_deg_median": 13.45,
+      "wrist_pos_err_mm_median": 182.7
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 4046,
+     "mean_hand": 348,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9625,
+    "observed_fraction_of_valid": 0.9633,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 38.28,
+     "smplx": 0.55
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 13.6,
+      "p90": 25.0
+     },
+     "registered": {
+      "median": 13.3,
+      "p90": 24.2
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:56:19.808953+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/P01/session_018",
   "family": "locomotion_primitives",
   "primitive": "P01",
   "source_session": "20260919/P01/20260919_115520_session205"
+ },
+ "task": {
+  "primitive": "P01",
+  "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
  }
 }
diff --git a/actions/locomotion_primitives/P01/session_018/motions/hands_mano.npz b/actions/locomotion_primitives/P01/session_018/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7cc5328a67ce738d5fe30ee331f9847409604fa5
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_018/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1688906
diff --git a/actions/locomotion_primitives/P01/session_018/motions/smplx.npz b/actions/locomotion_primitives/P01/session_018/motions/smplx.npz
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--- a/actions/locomotion_primitives/P01/session_018/motions/smplx.npz
+++ b/actions/locomotion_primitives/P01/session_018/motions/smplx.npz
@@ -1,3 +1,3 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..0bdf442a6196baaab8bfc71603529d6ebe8ae771
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_019/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",
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+}
diff --git a/actions/locomotion_primitives/P01/session_019/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P01/session_019/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..b008d63b99bbbb61673332d2fdd654d108c488f4
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_019/cameras/gsi_online_calibration.json
@@ -0,0 +1,253 @@
+{
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+  "groups_used": 14,
+  "median_px": 0.414
+ },
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+ "factory_root_name": "e17c9efadb69e7b1",
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+ },
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+ "kind": "online_calibration",
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+  "right_eye-left_eye": 1.0,
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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": 33.51,
+  "right": 35.746,
+  "right_eye": 26.787,
+  "right_front": 31.349
+ },
+ "runtime": {
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+  "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/P01/session_019/cameras/slam.npz b/actions/locomotion_primitives/P01/session_019/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c940186a72dd1ef12e857aa6fb4507e043182bf0
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_019/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:083be5d5a7a2ebf647fd0c600bcf869b7cce10fc6bf071b41a3060e2d79d03b2
+size 485443
diff --git a/actions/locomotion_primitives/P01/session_019/meta.json b/actions/locomotion_primitives/P01/session_019/meta.json
index 96f206b68c5450dfe248d1a05e9afdd44e97a483..2cfe2c57ec45c4e9952aa0948dae0f501c23759a 100644
--- a/actions/locomotion_primitives/P01/session_019/meta.json
+++ b/actions/locomotion_primitives/P01/session_019/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": {
@@ -514,10 +514,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.8006798314289791
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     0.0148,
+     0.0837,
+     -0.1112
+    ],
+    "dev_deg": {
+     "median": 6.52,
+     "p90": 17.67
+    },
+    "samples": 2319,
+    "accepted": 2273,
+    "wrist_pos_err_mm_median": 47.7,
+    "per_camera": {
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+      "accepted": 2273,
+      "gate_deg": 30.0,
+      "offset_deg": 8.02,
+      "tier": "primary",
+      "dev_deg_median": 6.52,
+      "wrist_pos_err_mm_median": 47.7
+     }
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+     "interpolated": 912,
+     "mean_hand": 5,
+     "no_body_fit": 8
+    },
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+    "observed_fraction_of_valid": 0.9995,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 8.82,
+     "smplx": 0.69
+    },
+    "hand_marker_to_mesh_mm": {
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+    "per_camera": {
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+      "accepted": 1895,
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+     "smplx": 0.57
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+    "hand_marker_to_mesh_mm": {
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+      "p90": 27.5
+     },
+     "registered": {
+      "median": 15.6,
+      "p90": 26.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:47:10.906718+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/P01/session_019",
   "family": "locomotion_primitives",
   "primitive": "P01",
   "source_session": "20260921/P01/20260921_055826_session113"
+ },
+ "task": {
+  "primitive": "P01",
+  "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
  }
 }
diff --git a/actions/locomotion_primitives/P01/session_019/motions/hands_mano.npz b/actions/locomotion_primitives/P01/session_019/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c1275438da95ee79fbf719ce5ac849921f113ac9
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_019/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 2930100
diff --git a/actions/locomotion_primitives/P01/session_019/motions/smplx.npz b/actions/locomotion_primitives/P01/session_019/motions/smplx.npz
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--- a/actions/locomotion_primitives/P01/session_019/motions/smplx.npz
+++ b/actions/locomotion_primitives/P01/session_019/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P01/session_020/annotations.json b/actions/locomotion_primitives/P01/session_020/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..86df1098c9bd2dc000d18ac860f677fbef6f4e04
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_020/annotations.json
@@ -0,0 +1,149 @@
+{
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diff --git a/actions/locomotion_primitives/P01/session_020/cameras/slam.npz b/actions/locomotion_primitives/P01/session_020/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2ba97a78434a5a108276f402bfb21a570a545998
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_020/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 571473
diff --git a/actions/locomotion_primitives/P01/session_020/meta.json b/actions/locomotion_primitives/P01/session_020/meta.json
index 38bbdace09945b1e628ba41b141802acd0508b21..a9b2d69ae1e4aa1db315bb58813636eb5290a418 100644
--- a/actions/locomotion_primitives/P01/session_020/meta.json
+++ b/actions/locomotion_primitives/P01/session_020/meta.json
@@ -325,8 +325,8 @@
   "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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@@ -518,10 +518,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.0955141359542409
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+ },
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   "family": "locomotion_primitives",
   "primitive": "P01",
   "source_session": "20260923/P01/20260923_121621_session61"
+ },
+ "task": {
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+  "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
  }
 }
diff --git a/actions/locomotion_primitives/P01/session_020/motions/hands_mano.npz b/actions/locomotion_primitives/P01/session_020/motions/hands_mano.npz
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--- /dev/null
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--- /dev/null
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+}
diff --git a/actions/locomotion_primitives/P01/session_021/cameras/slam.npz b/actions/locomotion_primitives/P01/session_021/cameras/slam.npz
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--- /dev/null
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@@ -513,5 +513,9 @@
   "family": "locomotion_primitives",
   "primitive": "P01",
   "source_session": "20260929/P01/20260929_060044_session109"
+ },
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+  "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
  }
 }
diff --git a/actions/locomotion_primitives/P01/session_021/motions/hands_mano.npz b/actions/locomotion_primitives/P01/session_021/motions/hands_mano.npz
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P01/session_022/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P01/session_022/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..34c87c4d009d91e75b2b5a8c0a9560e89a5ec7e7
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_022/cameras/gsi_online_calibration.json
@@ -0,0 +1,260 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.368
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.2538,
+   "gate_fail": [],
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+   "held_out_px_before": 5.812,
+   "inliers": 2581,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.0804,
+    -0.5262,
+    -1.1352
+   ],
+   "split_deg": 0.0274,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.5724,
+   "gate_fail": [],
+   "held_out_px_after": 0.387,
+   "held_out_px_before": 6.906,
+   "inliers": 3640,
+   "position_fitted": true,
+   "position_mm": [
+    3.53,
+    -10.43,
+    2.36
+   ],
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+   "position_split_mm": 2.439,
+   "rotvec_deg": [
+    0.1022,
+    0.8758,
+    -2.4165
+   ],
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+   "usable": true
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+   "role": "rig origin"
+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
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+    1.4755,
+    -0.4895,
+    -0.4311
+   ],
+   "split_deg": 0.0655,
+   "usable": true
+  },
+  "right_eye": {
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+    "right"
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+   "held_out_px_before": 3.27,
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+   "position_fitted": true,
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+    -11.5,
+    2.76
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+   "position_split_mm": 2.283,
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+    0.4124,
+    -0.2807,
+    -1.0621
+   ],
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+   "usable": true
+  },
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+    "left_front",
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+    "right_eye",
+    "left",
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+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
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+  },
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+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
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+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
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+   "sha256": "891f2d88ba27f7af9c447bc621fe5be90bb9747ac7c445c7479bd7ad88b507b6",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "ba1c474693f990cb",
+ "kind": "online_calibration",
+ "output_sha256": "7a27e05e14eccfff78e5647b35b7ad64e9c8ecc33e46d8af0e21bec74b13bfef",
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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,
+  "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": 35.018,
+  "left_eye": 23.056,
+  "left_front": 31.172,
+  "right": 34.112,
+  "right_eye": 21.144,
+  "right_front": 32.204
+ },
+ "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/P01/session_022/cameras/slam.npz b/actions/locomotion_primitives/P01/session_022/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d89eb1b66c561b93151abad344b73b60c65ac40d
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_022/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b32d100e35f314ebb74c338660411c439ebc4f2b8ea7e6df0cbadefd599707b
+size 712260
diff --git a/actions/locomotion_primitives/P01/session_022/meta.json b/actions/locomotion_primitives/P01/session_022/meta.json
index 4591fdd940a589be4799be4a790612a66a8759a3..7b37a89fb3286b726e718a4013709c81cf56bae8 100644
--- a/actions/locomotion_primitives/P01/session_022/meta.json
+++ b/actions/locomotion_primitives/P01/session_022/meta.json
@@ -325,8 +325,8 @@
   "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": {
@@ -505,10 +505,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.2967454592161405
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     0.8027,
+     -0.597,
+     0.1646
+    ],
+    "dev_deg": {
+     "median": 14.34,
+     "p90": 30.74
+    },
+    "samples": 3390,
+    "accepted": 3026,
+    "wrist_pos_err_mm_median": 51.8,
+    "per_camera": {
+     "head": {
+      "samples": 3390,
+      "accepted": 3026,
+      "gate_deg": 30.0,
+      "offset_deg": 58.09,
+      "tier": "primary",
+      "dev_deg_median": 14.34,
+      "wrist_pos_err_mm_median": 51.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12389,
+     "interpolated": 2466,
+     "mean_hand": 21,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9981,
+    "observed_fraction_of_valid": 0.9986,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 58.16,
+     "smplx": 0.54
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.8,
+      "p90": 8.7
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+     "registered": {
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+      "p90": 7.5
+     }
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+    "offset_rotvec": [
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+     0.0907
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+    "dev_deg": {
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+     "p90": 39.93
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+    "samples": 2823,
+    "accepted": 2113,
+    "wrist_pos_err_mm_median": 42.6,
+    "per_camera": {
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+      "accepted": 2113,
+      "gate_deg": 30.0,
+      "offset_deg": 26.73,
+      "tier": "primary",
+      "dev_deg_median": 21.12,
+      "wrist_pos_err_mm_median": 42.6
+     }
+    },
+    "frames_by_state": {
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+     "mean_hand": 797,
+     "no_body_fit": 8
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+    "observed_fraction": 0.9459,
+    "observed_fraction_of_valid": 0.9464,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.42
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 12.0
+     },
+     "registered": {
+      "median": 7.7,
+      "p90": 12.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:26:31.930991+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/P01/session_022",
   "family": "locomotion_primitives",
   "primitive": "P01",
   "source_session": "20260929/P01/20260929_102920_session199"
+ },
+ "task": {
+  "primitive": "P01",
+  "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
  }
 }
diff --git a/actions/locomotion_primitives/P01/session_022/motions/hands_mano.npz b/actions/locomotion_primitives/P01/session_022/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6b687adb219e4b872966a09154cbe65eff45a43e
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_022/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ef056d5f61084f30343506bdbfe8b1b0e000d85bad3b617092c879ce663c557
+size 4245850
diff --git a/actions/locomotion_primitives/P01/session_022/motions/smplx.npz b/actions/locomotion_primitives/P01/session_022/motions/smplx.npz
index f4c3ec9b8fed6c0a04e48e8598988c3e55448c02..231ac31031182c342867356723d303f017db0d91 100644
--- a/actions/locomotion_primitives/P01/session_022/motions/smplx.npz
+++ b/actions/locomotion_primitives/P01/session_022/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:cfd3dff53a23e9553a823289f0cb1a8bbd61f7e179db5c0b70f285f578472933
-size 5711112
+oid sha256:feeae7242f018eaae8ec727125209c8c4668b8224166c635c25683942233e878
+size 10626844
diff --git a/actions/locomotion_primitives/P01/session_023/annotations.json b/actions/locomotion_primitives/P01/session_023/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bf12cf2860f5a545075067e51d239230dede0ee
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_023/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": "P01",
+ "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 118.966711,
+   "video": "left_eye",
+   "video_t_start": 0.039017734029763496
+  }
+ ],
+ "episodes": [
+  {
+   "id": "adbf7a5c-e4ef-4043-b235-91f00b248369",
+   "segment": "segment1",
+   "action": "P01",
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+   "end_s": 6.373,
+   "t_start": 1.014,
+   "t_end": 6.412,
+   "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P01",
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+   "t_start": 10.412,
+   "t_end": 16.019,
+   "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
+  },
+  {
+   "id": "60669332-ce6c-472d-b714-d23b9987803f",
+   "segment": "segment1",
+   "action": "P01",
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+   "end_s": 24.835,
+   "t_start": 20.019,
+   "t_end": 24.874,
+   "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
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+}
diff --git a/actions/locomotion_primitives/P01/session_023/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P01/session_023/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..caf6d0cc091e1a6f29b72fc49ee63ae62302a033
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_023/cameras/gsi_online_calibration.json
@@ -0,0 +1,257 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.337
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
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+   "gate_fail": [],
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+   "held_out_px_before": 5.963,
+   "inliers": 2536,
+   "position_fitted": false,
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+    -0.1416,
+    -0.5496,
+    -1.1744
+   ],
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+   "usable": true
+  },
+  "left_eye": {
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+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.5139,
+   "gate_fail": [],
+   "held_out_px_after": 0.418,
+   "held_out_px_before": 7.129,
+   "inliers": 3615,
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+   "position_mm": [
+    1.53,
+    -12.39,
+    9.1
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+   "position_split_mm": 4.856,
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+    -0.1171,
+    0.8635,
+    -2.3581
+   ],
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+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
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+   "held_out_px_before": 5.871,
+   "inliers": 1624,
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+    1.5963,
+    -0.4421,
+    -0.2086
+   ],
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+   "usable": true
+  },
+  "right_eye": {
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
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+    -12.23,
+    8.55
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+   "position_split_mm": 2.862,
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+    0.1531,
+    -0.2999,
+    -1.0003
+   ],
+   "split_deg": 0.0339,
+   "usable": true
+  },
+  "right_front": {
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+   "against": [
+    "left_front",
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+    "right_eye",
+    "left",
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+    0.0325,
+    -2.0247
+   ],
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+  }
+ },
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+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "d965ed5254af54d069efb257dd6be254231bb7ce6aecaf92aa0a76e2daa47293",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
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+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
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+   "sha256": "5bffaaface2e4c134bf029bbf66ab7d5b66522ddce07f37dec7022699b228345",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "967b963a75b9bd86c732c2073c86fd39262113fb55ffd7cc83b12e892b30955f",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "f61aedf0328e57a7",
+ "kind": "online_calibration",
+ "output_sha256": "ad7d49f1d7d916ab3992a2d3fea82d03a628289ed17c9e9957959748a33c95aa",
+ "overlap": {
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+  "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": 36.164,
+  "left_eye": 36.963,
+  "left_front": 44.445,
+  "right": 36.047,
+  "right_eye": 35.895,
+  "right_front": 42.117
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
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+   6092495605111,
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+   6195495671777,
+   6196495594000,
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+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P01/session_023/cameras/slam.npz b/actions/locomotion_primitives/P01/session_023/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9d50ef86370b71f05573e1ee20e84628f03f8129
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_023/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bea6fca90d5e822913fda8da7ebb6452d8871dc0a46c6d17d580aab9227add0
+size 679143
diff --git a/actions/locomotion_primitives/P01/session_023/meta.json b/actions/locomotion_primitives/P01/session_023/meta.json
index 615e37d05c8a2b31f2ef71d98e36c28910762a36..6c0b3aba01ed628d0c64091982417d83df2ec1d7 100644
--- a/actions/locomotion_primitives/P01/session_023/meta.json
+++ b/actions/locomotion_primitives/P01/session_023/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": {
@@ -527,10 +527,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.4102953294106158
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 42.53,
+    "offset_rotvec": [
+     0.5576,
+     -0.4754,
+     0.1192
+    ],
+    "dev_deg": {
+     "median": 17.04,
+     "p90": 31.26
+    },
+    "samples": 2017,
+    "accepted": 1786,
+    "wrist_pos_err_mm_median": 271.1,
+    "per_camera": {
+     "head": {
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+      "accepted": 1786,
+      "gate_deg": 30.0,
+      "offset_deg": 42.53,
+      "tier": "primary",
+      "dev_deg_median": 17.04,
+      "wrist_pos_err_mm_median": 271.1
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 6094,
+     "mean_hand": 708,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9499,
+    "observed_fraction_of_valid": 0.9504,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 44.57,
+     "smplx": 0.55
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.1,
+      "p90": 8.1
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+     "registered": {
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+     }
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+     0.0709
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+    "dev_deg": {
+     "median": 22.1,
+     "p90": 42.66
+    },
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+    "accepted": 1354,
+    "wrist_pos_err_mm_median": 325.1,
+    "per_camera": {
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+      "accepted": 1354,
+      "gate_deg": 30.0,
+      "offset_deg": 20.85,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 325.1
+     }
+    },
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+     "interpolated": 6870,
+     "mean_hand": 1644,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.8843,
+    "observed_fraction_of_valid": 0.8848,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 32.07,
+     "smplx": 0.64
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.3,
+      "p90": 6.2
+     },
+     "registered": {
+      "median": 5.4,
+      "p90": 6.2
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:22:59.304486+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/P01/session_023",
   "family": "locomotion_primitives",
   "primitive": "P01",
   "source_session": "20260930/P01/20260930_021522_session37"
+ },
+ "task": {
+  "primitive": "P01",
+  "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
  }
 }
diff --git a/actions/locomotion_primitives/P01/session_023/motions/hands_mano.npz b/actions/locomotion_primitives/P01/session_023/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c95e91daade9f2afa033883696449189b8734f22
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_023/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af93a191c7a442c39c6892ea58b2c0909a96efb7bddee9f5dc44d28c48218081
+size 2776859
diff --git a/actions/locomotion_primitives/P01/session_023/motions/smplx.npz b/actions/locomotion_primitives/P01/session_023/motions/smplx.npz
index 395e4122dbc4a1ba721c97d997215749ecf61dc8..66a8a6f684ffb01d2aff231c09ebc077a63ba615 100644
--- a/actions/locomotion_primitives/P01/session_023/motions/smplx.npz
+++ b/actions/locomotion_primitives/P01/session_023/motions/smplx.npz
@@ -1,3 +1,3 @@
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-oid sha256:5ee485d0fd854bb9bcce022a028343dfcfffcf0aeeccbf0c7e41e7a2229ec05d
-size 5492160
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diff --git a/actions/locomotion_primitives/P01/session_024/annotations.json b/actions/locomotion_primitives/P01/session_024/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..bde1a6c612a99dfedfe37541ebe9061d68f0f7ee
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_024/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": "P01",
+ "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 108.966633,
+   "video": "left_eye",
+   "video_t_start": 0.013858181441000726
+  }
+ ],
+ "episodes": [
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+   "end_s": 6.799,
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+   "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
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+   "t_end": 12.4839,
+   "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
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+  },
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P01/session_024/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P01/session_024/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c367cdebb4349f1b56a80293c0b79072426bed4
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_024/cameras/gsi_online_calibration.json
@@ -0,0 +1,255 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.367
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.3066,
+   "gate_fail": [],
+   "held_out_px_after": 0.543,
+   "held_out_px_before": 6.559,
+   "inliers": 2075,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.0689,
+    -0.4108,
+    -1.2384
+   ],
+   "split_deg": 0.0135,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.4236,
+   "gate_fail": [],
+   "held_out_px_after": 0.36,
+   "held_out_px_before": 5.685,
+   "inliers": 4215,
+   "position_fitted": true,
+   "position_mm": [
+    1.44,
+    -10.95,
+    11.68
+   ],
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+   "position_split_mm": 0.845,
+   "rotvec_deg": [
+    -0.1576,
+    0.8449,
+    -2.2661
+   ],
+   "split_deg": 0.0119,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
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+   "held_out_px_before": 6.396,
+   "inliers": 2246,
+   "position_fitted": false,
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+    1.7053,
+    -0.2096,
+    -0.0028
+   ],
+   "split_deg": 0.0639,
+   "usable": true
+  },
+  "right_eye": {
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
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+   "inliers": 3752,
+   "position_fitted": true,
+   "position_mm": [
+    9.93,
+    -14.83,
+    7.73
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+   "position_split_mm": 1.38,
+   "rotvec_deg": [
+    0.1703,
+    -0.339,
+    -0.988
+   ],
+   "split_deg": 0.0203,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+   "held_out_px_before": 6.754,
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+    -0.0754,
+    -2.1315
+   ],
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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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+   "sha256": "7dcf893edbaff97e71b907470f327d0c8c4d3ca60dc9b8bfb1c71ba6ac325314",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "bfef3ceb2eb81d6bec22417480cd3af1c7c8b89bd73bbb839f6797f32706fb89",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
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+   "sha256": "4f29625210ef79b7ebeac1b2370c6229716816e7721eeded2b6858a31352cca7",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "e615c232939802af",
+ "kind": "online_calibration",
+ "output_sha256": "c70bf3b3160f09b33e16faa40dfd8d5395f3afe87717f48d7dd3692f09028541",
+ "overlap": {
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+  "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": 32.566,
+  "left_eye": 26.36,
+  "left_front": 34.864,
+  "right": 29.179,
+  "right_eye": 24.442,
+  "right_front": 36.056
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
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+   41278708420000,
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+   41283708408888,
+   41284708386666,
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+   41376708397777,
+   41377708386666,
+   41378708420000
+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P01/session_024/cameras/slam.npz b/actions/locomotion_primitives/P01/session_024/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fbcaa77670c96de330701cba4c80549f41fd4022
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_024/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45be6e7458cec5fd73f5daa8cc414b020df280856c52893da9851a91b7fb4912
+size 629113
diff --git a/actions/locomotion_primitives/P01/session_024/meta.json b/actions/locomotion_primitives/P01/session_024/meta.json
index f50c74b960a3935e70eed19c9c9e9fb5e29f77fb..85359d3a1c312de46d0989009767ccc507ac1f23 100644
--- a/actions/locomotion_primitives/P01/session_024/meta.json
+++ b/actions/locomotion_primitives/P01/session_024/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": {
@@ -505,10 +505,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 23.92,
+    "offset_rotvec": [
+     0.0169,
+     -0.3389,
+     0.2431
+    ],
+    "dev_deg": {
+     "median": 9.67,
+     "p90": 20.08
+    },
+    "samples": 2570,
+    "accepted": 2528,
+    "wrist_pos_err_mm_median": 64.3,
+    "per_camera": {
+     "head": {
+      "samples": 2570,
+      "accepted": 2528,
+      "gate_deg": 30.0,
+      "offset_deg": 23.92,
+      "tier": "primary",
+      "dev_deg_median": 9.67,
+      "wrist_pos_err_mm_median": 64.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10338,
+     "interpolated": 2686,
+     "mean_hand": 57,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9956,
+    "observed_fraction_of_valid": 0.9956,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 21.77,
+     "smplx": 0.33
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.6,
+      "p90": 12.8
+     },
+     "registered": {
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+     }
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+    "dev_deg": {
+     "median": 16.62,
+     "p90": 32.78
+    },
+    "samples": 2045,
+    "accepted": 1710,
+    "wrist_pos_err_mm_median": 229.2,
+    "per_camera": {
+     "head": {
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+      "accepted": 1710,
+      "gate_deg": 30.0,
+      "offset_deg": 11.23,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 229.2
+     }
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+     "interpolated": 5426,
+     "mean_hand": 449,
+     "no_body_fit": 0
+    },
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+    "observed_fraction_of_valid": 0.9657,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.3
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 12.8
+     },
+     "registered": {
+      "median": 8.8,
+      "p90": 12.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:07:49.673512+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/P01/session_024",
   "family": "locomotion_primitives",
   "primitive": "P01",
   "source_session": "20261013/P01/20261013_115040_session209"
+ },
+ "task": {
+  "primitive": "P01",
+  "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
  }
 }
diff --git a/actions/locomotion_primitives/P01/session_024/motions/hands_mano.npz b/actions/locomotion_primitives/P01/session_024/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b676d29ab117a4c539a54f8cfb064a0645665a2b
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_024/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c418dab6174fb36e78124348281f562e7f7a4cfa803cad0046bc0c8eef2e325b
+size 3202933
diff --git a/actions/locomotion_primitives/P01/session_024/motions/smplx.npz b/actions/locomotion_primitives/P01/session_024/motions/smplx.npz
index 3b4425a4cc5b0bc680f7b286cf71481e768cb7f6..c6f16c88e9ec2198937a83c4acb613adbc2c8630 100644
--- a/actions/locomotion_primitives/P01/session_024/motions/smplx.npz
+++ b/actions/locomotion_primitives/P01/session_024/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:68f6b455c0c759161c5475c788d579fede9701ac1037a2dfecf4d0b48e38138f
-size 5028253
+oid sha256:4276301a39331ce4a422b6e8641ee5b2ead1d1ae9ad79e4307bae2b463a4f886
+size 9372572
diff --git a/actions/locomotion_primitives/P01/session_025/annotations.json b/actions/locomotion_primitives/P01/session_025/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..2184f84f20a48e047563f5feaa575ddfd5b3b78b
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_025/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": "P01",
+ "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 143.166667,
+   "video": "left_eye",
+   "video_t_start": 0.039773908567265495
+  }
+ ],
+ "episodes": [
+  {
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+   "segment": "segment1",
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+   "end_s": 9.324,
+   "t_start": 3.8448,
+   "t_end": 9.3638,
+   "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
+  },
+  {
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+   "segment": "segment1",
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+   "t_start": 12.3638,
+   "t_end": 18.0828,
+   "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P01",
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+   "t_start": 22.3058,
+   "t_end": 28.2318,
+   "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
+  },
+  {
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+   "segment": "segment1",
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+ ]
+}
diff --git a/actions/locomotion_primitives/P01/session_025/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P01/session_025/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3a0a72947c7ec55a77ad7d218ceb4e76e6270b6
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_025/cameras/gsi_online_calibration.json
@@ -0,0 +1,257 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.366
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.6461,
+   "gate_fail": [],
+   "held_out_px_after": 0.451,
+   "held_out_px_before": 20.488,
+   "inliers": 2256,
+   "position_fitted": false,
+   "rotvec_deg": [
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+    -0.1427,
+    -0.7968
+   ],
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+   "usable": true
+  },
+  "left_eye": {
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+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.731,
+   "gate_fail": [],
+   "held_out_px_after": 0.56,
+   "held_out_px_before": 10.32,
+   "inliers": 2751,
+   "position_fitted": true,
+   "position_mm": [
+    5.21,
+    -23.45,
+    -7.07
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+   "position_split_mm": 6.822,
+   "rotvec_deg": [
+    1.8552,
+    -0.9022,
+    1.7896
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+   "split_deg": 0.0833,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+    -0.9581,
+    2.9993
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+   "usable": true
+  },
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+    "right_front",
+    "left_eye",
+    "left",
+    "right"
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+    -1.23
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+    1.9956,
+    -1.144,
+    2.3215
+   ],
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+  },
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+    "right_eye",
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+    "right"
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+ },
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+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
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+  },
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+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
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+  },
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+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "423d122945bc1246",
+ "kind": "online_calibration",
+ "output_sha256": "975ea1392b7c09879198e8ec095a9aa99c09b6b34e49f886882751ab1331e346",
+ "overlap": {
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+  "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": 37.125,
+  "left_eye": 34.526,
+  "left_front": 31.468,
+  "right": 35.363,
+  "right_eye": 34.144,
+  "right_front": 30.413
+ },
+ "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/P01/session_025/cameras/slam.npz b/actions/locomotion_primitives/P01/session_025/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4d82cf177381fd442cec81f01f540ff31f1fb1a5
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_025/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1216433e25246fda270c156a07522ae9837383da202df6004229a79c7239a081
+size 820942
diff --git a/actions/locomotion_primitives/P01/session_025/meta.json b/actions/locomotion_primitives/P01/session_025/meta.json
index b939403d51d5ac22068b263e0d734dd47580b970..df6f77c65699080b42a4aa0eb8ca6186aaa4a5fb 100644
--- a/actions/locomotion_primitives/P01/session_025/meta.json
+++ b/actions/locomotion_primitives/P01/session_025/meta.json
@@ -377,8 +377,8 @@
   "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 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 32.61,
+    "offset_rotvec": [
+     0.2842,
+     -0.4574,
+     0.1842
+    ],
+    "dev_deg": {
+     "median": 16.48,
+     "p90": 29.67
+    },
+    "samples": 2914,
+    "accepted": 2635,
+    "wrist_pos_err_mm_median": 61.9,
+    "per_camera": {
+     "head": {
+      "samples": 2914,
+      "accepted": 2635,
+      "gate_deg": 30.0,
+      "offset_deg": 32.61,
+      "tier": "primary",
+      "dev_deg_median": 16.48,
+      "wrist_pos_err_mm_median": 61.9
+     }
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+     "interpolated": 6076,
+     "mean_hand": 185,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9888,
+    "observed_fraction_of_valid": 0.9892,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 30.88,
+     "smplx": 0.63
+    },
+    "hand_marker_to_mesh_mm": {
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+     }
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+    "accepted": 2791,
+    "wrist_pos_err_mm_median": 51.1,
+    "per_camera": {
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+      "accepted": 2791,
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+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 51.1
+     }
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+    },
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+    "observed_fraction_of_valid": 0.9415,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.46
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 12.6
+     },
+     "registered": {
+      "median": 9.7,
+      "p90": 11.1
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:26:46.626030+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/P01/session_025",
   "family": "locomotion_primitives",
   "primitive": "P01",
   "source_session": "20261019/P01/20261019_015634_session17"
+ },
+ "task": {
+  "primitive": "P01",
+  "instruction": "Start still; walk straight at normal comfortable speed; stop at endpoint."
  }
 }
diff --git a/actions/locomotion_primitives/P01/session_025/motions/hands_mano.npz b/actions/locomotion_primitives/P01/session_025/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ec72411819f85fadef1716c55427d26c3ab36fe2
--- /dev/null
+++ b/actions/locomotion_primitives/P01/session_025/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:732a404025085e96984e3258bcbd1ce00229ebbfa93a7c6cfb29a860ddb350f6
+size 4388696
diff --git a/actions/locomotion_primitives/P01/session_025/motions/smplx.npz b/actions/locomotion_primitives/P01/session_025/motions/smplx.npz
index df1362516135a8c9c2d63e2811d5c2665feb67d2..2fa7bf396a187556d9a4a4442fd2e7903dd30714 100644
--- a/actions/locomotion_primitives/P01/session_025/motions/smplx.npz
+++ b/actions/locomotion_primitives/P01/session_025/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d46fa17be057ee96b589ce14f2fed91f649e33a594d8c418de36550277a27149
-size 6605633
+oid sha256:a57238812df16bf34fe96065f00f0c0eac782aeb2c9472d5d2313d57bee2e717
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diff --git a/actions/locomotion_primitives/P02/session_001/annotations.json b/actions/locomotion_primitives/P02/session_001/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7f4aa00b110e72729f76a677c824aded91e4445
--- /dev/null
+++ b/actions/locomotion_primitives/P02/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": "P02",
+ "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 98.966644,
+   "video": "left_eye",
+   "video_t_start": 0.03890581911142221
+  }
+ ],
+ "episodes": [
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+   "segment": "segment1",
+   "action": "P02",
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+   "end_s": 8.185,
+   "t_start": 2.0689,
+   "t_end": 8.2239,
+   "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
+  },
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+   "segment": "segment1",
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+   "t_start": 10.8509,
+   "t_end": 16.3969,
+   "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
+  },
+  {
+   "id": "b7cdf411-5060-429f-8e57-e49a7a92c691",
+   "segment": "segment1",
+   "action": "P02",
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+   "end_s": 25.088,
+   "t_start": 19.1019,
+   "t_end": 25.1269,
+   "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
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+   "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P02/session_001/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P02/session_001/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0756fbdfcba836bc381a10ccd87c2ece70419be
--- /dev/null
+++ b/actions/locomotion_primitives/P02/session_001/cameras/gsi_online_calibration.json
@@ -0,0 +1,264 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 184,
+    "median_px": 18.5,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.342
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.9317,
+   "gate_fail": [],
+   "held_out_px_after": 0.65,
+   "held_out_px_before": 6.454,
+   "inliers": 1415,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.079,
+    0.8434,
+    0.3879
+   ],
+   "split_deg": 0.0373,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0549,
+   "gate_fail": [],
+   "held_out_px_after": 0.331,
+   "held_out_px_before": 2.142,
+   "inliers": 2742,
+   "position_fitted": true,
+   "position_mm": [
+    -10.04,
+    10.14,
+    10.52
+   ],
+   "position_sigma_mm": 0.384,
+   "position_split_mm": 6.141,
+   "rotvec_deg": [
+    0.1806,
+    0.7021,
+    -0.7664
+   ],
+   "split_deg": 0.1623,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.4922,
+   "gate_fail": [],
+   "held_out_px_after": 0.474,
+   "held_out_px_before": 2.347,
+   "inliers": 1740,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.4799,
+    -0.0925,
+    -0.058
+   ],
+   "split_deg": 0.1558,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.7679,
+   "gate_fail": [],
+   "held_out_px_after": 0.348,
+   "held_out_px_before": 1.785,
+   "inliers": 2840,
+   "position_fitted": true,
+   "position_mm": [
+    -16.78,
+    8.98,
+    9.43
+   ],
+   "position_sigma_mm": 0.383,
+   "position_split_mm": 7.815,
+   "rotvec_deg": [
+    0.2359,
+    0.3894,
+    -0.6183
+   ],
+   "split_deg": 0.1866,
+   "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": 7.413,
+   "inliers": 4235,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3334,
+    0.4363,
+    -1.6332
+   ],
+   "split_deg": 0.0466,
+   "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": "6f837860c4ed779dd6f485cd04ed01db274f1eeb2a7bf0bf6c62ec9ac232be67",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "5830ecd99681a80ec6e3e417c4ec8b4c99aa8abb77542b6582b28fdc5724d75a",
+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "2bedb40d97974194271c842dd25f6c956dc40dabead651927a3720d2ed086c53",
+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "cf5c2af4b7cde4159501a850438b38e1f8d6da85e600f5678c34fa8a7a9d10ad",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "7eaaf77a4e1787a1",
+ "kind": "online_calibration",
+ "output_sha256": "123717135bde3a392e3fba331e81881b99f84b95989980220a6265ee2cdc8c39",
+ "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": 38.389,
+  "left_eye": 36.032,
+  "left_front": 43.621,
+  "right": 34.525,
+  "right_eye": 38.465,
+  "right_front": 43.331
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
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+   3918637433888,
+   3922637333888,
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+   4006637333888,
+   4007637322777,
+   4009637322777,
+   4010637322777
+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P02/session_001/cameras/slam.npz b/actions/locomotion_primitives/P02/session_001/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..12e1c3548f29d290b072529604544a52019252e5
--- /dev/null
+++ b/actions/locomotion_primitives/P02/session_001/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddb2c7410d7a7fa61ddc48b74e4aa8bdb1f8e7f6ec49f552c676023682eb1ae0
+size 567739
diff --git a/actions/locomotion_primitives/P02/session_001/meta.json b/actions/locomotion_primitives/P02/session_001/meta.json
index b1597c0353b424b84c5789e6d7a82e252aab2cd1..2fa477b414a7dce0688c189ec5d0fdb037d884fc 100644
--- a/actions/locomotion_primitives/P02/session_001/meta.json
+++ b/actions/locomotion_primitives/P02/session_001/meta.json
@@ -332,8 +332,8 @@
   "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 @@
   "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": 16.31,
+    "offset_rotvec": [
+     -0.1216,
+     -0.2435,
+     -0.0836
+    ],
+    "dev_deg": {
+     "median": 7.07,
+     "p90": 19.32
+    },
+    "samples": 2735,
+    "accepted": 2626,
+    "wrist_pos_err_mm_median": 55.9,
+    "per_camera": {
+     "head": {
+      "samples": 2735,
+      "accepted": 2626,
+      "gate_deg": 30.0,
+      "offset_deg": 16.31,
+      "tier": "primary",
+      "dev_deg_median": 7.07,
+      "wrist_pos_err_mm_median": 55.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10640,
+     "interpolated": 1232,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.999,
+    "observed_fraction_of_valid": 0.999,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.42,
+     "smplx": 0.69
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.5,
+      "p90": 9.1
+     },
+     "registered": {
+      "median": 10.3,
+      "p90": 11.6
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 10.73,
+    "offset_rotvec": [
+     -0.1049,
+     -0.0582,
+     0.1437
+    ],
+    "dev_deg": {
+     "median": 6.96,
+     "p90": 20.26
+    },
+    "samples": 2738,
+    "accepted": 2616,
+    "wrist_pos_err_mm_median": 65.8,
+    "per_camera": {
+     "head": {
+      "samples": 2738,
+      "accepted": 2616,
+      "gate_deg": 30.0,
+      "offset_deg": 10.73,
+      "tier": "primary",
+      "dev_deg_median": 6.96,
+      "wrist_pos_err_mm_median": 65.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10574,
+     "interpolated": 1298,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.999,
+    "observed_fraction_of_valid": 0.999,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 10.19,
+     "smplx": 0.6
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.4,
+      "p90": 7.1
+     },
+     "registered": {
+      "median": 5.1,
+      "p90": 6.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:22:10.819253+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/P02/session_001",
   "family": "locomotion_primitives",
   "primitive": "P02",
   "source_session": "20260828/P02/20260828_020611_session232"
+ },
+ "task": {
+  "primitive": "P02",
+  "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P02/session_001/motions/hands_mano.npz b/actions/locomotion_primitives/P02/session_001/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fd95f3a437d8b7cefb5f1b5f9a5f0daeacbe1d5f
--- /dev/null
+++ b/actions/locomotion_primitives/P02/session_001/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70488f1172db72e0a7950bcffd3b7fda2cf279ff8478de7e273e5148ea4dc079
+size 3711030
diff --git a/actions/locomotion_primitives/P02/session_001/motions/smplx.npz b/actions/locomotion_primitives/P02/session_001/motions/smplx.npz
index fc056f3e9f386e7d7ec46c1ea2089f4e896e5e0e..07300f1ed8c336a18004a6d1520e86fe63593419 100644
--- a/actions/locomotion_primitives/P02/session_001/motions/smplx.npz
+++ b/actions/locomotion_primitives/P02/session_001/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:9636d6b6942f0b688ba0b435df3e8bd82cd1e2568b6256b9072f9cfbc35590d4
-size 4561965
+oid sha256:4dbce0319a246e78fb2c0d6f56fb6bd13d9ee4af0b3ebfd699d0881d23231499
+size 8559309
diff --git a/actions/locomotion_primitives/P02/session_002/annotations.json b/actions/locomotion_primitives/P02/session_002/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d2851c890821315d17b28ff44898f7994f513d7
--- /dev/null
+++ b/actions/locomotion_primitives/P02/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": "P02",
+ "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 98.966589,
+   "video": "left_eye",
+   "video_t_start": 0.03829732191391444
+  }
+ ],
+ "episodes": [
+  {
+   "id": "6db784db-4427-4984-b147-847a84308909",
+   "segment": "segment1",
+   "action": "P02",
+   "quality": "valid",
+   "start_s": 1.89,
+   "end_s": 7.685,
+   "t_start": 1.9283,
+   "t_end": 7.7233,
+   "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P02",
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+   "end_s": 15.32,
+   "t_start": 10.4233,
+   "t_end": 15.3583,
+   "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P02",
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+   "t_start": 17.6113,
+   "t_end": 22.8613,
+   "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
+  },
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+   "t_start": 25.9723,
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+   "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
+  },
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+   "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
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+   "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
+  },
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+   "end_s": 93.168,
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+   "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P02/session_002/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P02/session_002/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ceb87ad50de0648e15ca07ef0b9563a92f0fd59
--- /dev/null
+++ b/actions/locomotion_primitives/P02/session_002/cameras/gsi_online_calibration.json
@@ -0,0 +1,260 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 240,
+    "median_px": 29.22,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.335
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.9205,
+   "gate_fail": [],
+   "held_out_px_after": 0.756,
+   "held_out_px_before": 6.526,
+   "inliers": 1480,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.1103,
+    0.8393,
+    0.3616
+   ],
+   "split_deg": 0.2222,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0682,
+   "gate_fail": [],
+   "held_out_px_after": 0.41,
+   "held_out_px_before": 2.096,
+   "inliers": 2357,
+   "position_fitted": true,
+   "position_mm": [
+    -10.69,
+    12.35,
+    12.25
+   ],
+   "position_sigma_mm": 0.397,
+   "position_split_mm": 2.208,
+   "rotvec_deg": [
+    0.2017,
+    0.6905,
+    -0.7896
+   ],
+   "split_deg": 0.1044,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.499,
+   "gate_fail": [],
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+   "held_out_px_before": 2.103,
+   "inliers": 1687,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.4686,
+    -0.1177,
+    -0.1249
+   ],
+   "split_deg": 0.0909,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
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+   "held_out_px_after": 0.46,
+   "held_out_px_before": 1.86,
+   "inliers": 2469,
+   "position_fitted": true,
+   "position_mm": [
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+    10.66,
+    10.79
+   ],
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+   "position_split_mm": 1.486,
+   "rotvec_deg": [
+    0.2408,
+    0.3646,
+    -0.6307
+   ],
+   "split_deg": 0.0823,
+   "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": 8.072,
+   "inliers": 4313,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.346,
+    0.4539,
+    -1.617
+   ],
+   "split_deg": 0.0301,
+   "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": "77aa150ac6670909dbc6371142038f34e4023431b0fd627527ddd5a3604cd69e",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "4e9153cc43b71518a6187450c5962f009ff8550b33eefe48125bde7cffd4c1d9",
+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "255fff2e29c16079967b5751ec9b026e943b623a9f90b7d4cee06bd97cf8f16f",
+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "064e8d5f3ae981248da534b72ba56747118d2bd9db392c2c57f77a3f50a3cce4",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "72d5fa91f1e828ba",
+ "kind": "online_calibration",
+ "output_sha256": "fef4089368ef104bffe5078711a7dcf8381240c67c56674b39464efcf15066f6",
+ "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": 39.74,
+  "left_eye": 36.191,
+  "left_front": 46.564,
+  "right": 35.537,
+  "right_eye": 37.633,
+  "right_front": 46.175
+ },
+ "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/P02/session_002/cameras/slam.npz b/actions/locomotion_primitives/P02/session_002/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b3eea2117f2525306ef6aedb071f3f52bb409fcf
--- /dev/null
+++ b/actions/locomotion_primitives/P02/session_002/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f404934e1df99f8700f651bd008cf465ca7910bb3452fc28fda792820688246
+size 568988
diff --git a/actions/locomotion_primitives/P02/session_002/meta.json b/actions/locomotion_primitives/P02/session_002/meta.json
index 4bcdae95d5641b1f096317f8a5e4d15f9997187b..b235aa28e91bd8831aec4bb73c075ab9b4a6dcb2 100644
--- a/actions/locomotion_primitives/P02/session_002/meta.json
+++ b/actions/locomotion_primitives/P02/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": {
@@ -524,10 +524,124 @@
   "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": 16.09,
+    "offset_rotvec": [
+     -0.1135,
+     -0.2438,
+     -0.0808
+    ],
+    "dev_deg": {
+     "median": 7.26,
+     "p90": 17.17
+    },
+    "samples": 2697,
+    "accepted": 2644,
+    "wrist_pos_err_mm_median": 44.0,
+    "per_camera": {
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+      "samples": 2697,
+      "accepted": 2644,
+      "gate_deg": 30.0,
+      "offset_deg": 16.09,
+      "tier": "primary",
+      "dev_deg_median": 7.26,
+      "wrist_pos_err_mm_median": 44.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10692,
+     "interpolated": 1180,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.999,
+    "observed_fraction_of_valid": 0.999,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.35,
+     "smplx": 0.66
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.6,
+      "p90": 9.3
+     },
+     "registered": {
+      "median": 10.4,
+      "p90": 11.2
+     }
+    }
+   },
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+    "offset_rotvec": [
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+     -0.0264,
+     0.1395
+    ],
+    "dev_deg": {
+     "median": 7.98,
+     "p90": 27.29
+    },
+    "samples": 2730,
+    "accepted": 2487,
+    "wrist_pos_err_mm_median": 56.8,
+    "per_camera": {
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+      "samples": 2730,
+      "accepted": 2487,
+      "gate_deg": 30.0,
+      "offset_deg": 8.64,
+      "tier": "primary",
+      "dev_deg_median": 7.98,
+      "wrist_pos_err_mm_median": 56.8
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 1340,
+     "mean_hand": 476,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9599,
+    "observed_fraction_of_valid": 0.9599,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 9.3,
+     "smplx": 0.79
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.9,
+      "p90": 7.2
+     },
+     "registered": {
+      "median": 5.9,
+      "p90": 7.1
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:22:31.229142+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/P02/session_002",
   "family": "locomotion_primitives",
   "primitive": "P02",
   "source_session": "20260828/P02/20260828_020907_session234"
+ },
+ "task": {
+  "primitive": "P02",
+  "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P02/session_002/motions/hands_mano.npz b/actions/locomotion_primitives/P02/session_002/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c70cae04ef103d3135e63015cde671dd9885bc6e
--- /dev/null
+++ b/actions/locomotion_primitives/P02/session_002/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afba8599c45321424f720b9e44dbca2d43cd7c117af93a22092106382bed9157
+size 3679936
diff --git a/actions/locomotion_primitives/P02/session_002/motions/smplx.npz b/actions/locomotion_primitives/P02/session_002/motions/smplx.npz
index 5ae8e01375ccc4abc0e6eb925bfa52c7535f4bbe..9c5439e769ce72ce25efb39e107d60587dd12dfb 100644
--- a/actions/locomotion_primitives/P02/session_002/motions/smplx.npz
+++ b/actions/locomotion_primitives/P02/session_002/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ba75ae6b3b585c35c3759ca97dc89a34e16ad5ecce108467f72c773189117d87
-size 4555164
+oid sha256:d1c75fc7aefc63213a49ce0c680c13c3777752db91576c7acf630b7204c96f11
+size 8488884
diff --git a/actions/locomotion_primitives/P02/session_003/annotations.json b/actions/locomotion_primitives/P02/session_003/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..20b8baab295143b7a97b99dc78fa67d981304ece
--- /dev/null
+++ b/actions/locomotion_primitives/P02/session_003/annotations.json
@@ -0,0 +1,237 @@
+{
+ "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": "P02",
+ "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 208.966656,
+   "video": "left_eye",
+   "video_t_start": 0.038402320284968816
+  }
+ ],
+ "episodes": [
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+   "segment": "segment1",
+   "action": "P02",
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+   "t_start": 1.0734,
+   "t_end": 8.5734,
+   "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
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+   "t_end": 17.8254,
+   "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
+  },
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P02/session_003/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P02/session_003/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fd2e7bb8a46563564b13235ec441f534f7b1bf0
--- /dev/null
+++ b/actions/locomotion_primitives/P02/session_003/cameras/gsi_online_calibration.json
@@ -0,0 +1,265 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 149,
+    "median_px": 8.48,
+    "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": 0.9681,
+   "gate_fail": [],
+   "held_out_px_after": 0.469,
+   "held_out_px_before": 7.872,
+   "inliers": 2424,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.0882,
+    0.8104,
+    0.5223
+   ],
+   "split_deg": 0.0539,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.2157,
+   "gate_fail": [],
+   "held_out_px_after": 0.331,
+   "held_out_px_before": 3.928,
+   "inliers": 3342,
+   "position_fitted": true,
+   "position_mm": [
+    -11.86,
+    9.38,
+    9.49
+   ],
+   "position_sigma_mm": 0.388,
+   "position_split_mm": 2.679,
+   "rotvec_deg": [
+    0.1443,
+    0.839,
+    -0.8678
+   ],
+   "split_deg": 0.0288,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.4435,
+   "gate_fail": [],
+   "held_out_px_after": 0.595,
+   "held_out_px_before": 2.496,
+   "inliers": 1241,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.4292,
+    -0.1068,
+    -0.0329
+   ],
+   "split_deg": 0.1351,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.898,
+   "gate_fail": [],
+   "held_out_px_after": 0.342,
+   "held_out_px_before": 1.58,
+   "inliers": 3825,
+   "position_fitted": true,
+   "position_mm": [
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+    10.5,
+    6.76
+   ],
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+   "position_split_mm": 3.041,
+   "rotvec_deg": [
+    0.3202,
+    0.4428,
+    -0.7126
+   ],
+   "split_deg": 0.0173,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+   "held_out_px_before": 7.768,
+   "inliers": 4401,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3109,
+    0.538,
+    -1.7503
+   ],
+   "split_deg": 0.0053,
+   "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": "7b39c54527b7df0b08e00173db4dd27440e7e99ebe00c3b66fb9b51f5448baf7",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "61d7d9009bda36001625cd541ea59fd73c9d2040bcb347cadf1ba6713fcd3168",
+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "8d02a67dca7442c8cee5e8fd86be2fb6fc30f746b4d0a3edb6119db2ec4857bc",
+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "63b04bb7f46dcf54e81eed0861ed9f51e1d04dfcf42a14b7b587cf2ac88d0e46",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "ebb34bc66b03fa15",
+ "kind": "online_calibration",
+ "output_sha256": "12b855e984a055f7f15774d543a5f3a2574936d97a549a2c39c1e2f862443fa6",
+ "overlap": {
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+  "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": 48.49,
+  "left_eye": 44.714,
+  "left_front": 47.396,
+  "right": 45.013,
+  "right_eye": 44.245,
+  "right_front": 46.299
+ },
+ "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/P02/session_003/cameras/slam.npz b/actions/locomotion_primitives/P02/session_003/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a82e43165dad6a7cf398e7a069e34595926b09c8
--- /dev/null
+++ b/actions/locomotion_primitives/P02/session_003/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a3751f3413bb3104cd75a1b229ea9d0c20afcf724fcda677517b047cfff6cd4
+size 1198374
diff --git a/actions/locomotion_primitives/P02/session_003/meta.json b/actions/locomotion_primitives/P02/session_003/meta.json
index b9a31d6272f2669eb134bcc3b589791cc418fa80..bbcbf47fd243d65b47c0e8288c1f02ea607349e7 100644
--- a/actions/locomotion_primitives/P02/session_003/meta.json
+++ b/actions/locomotion_primitives/P02/session_003/meta.json
@@ -334,8 +334,8 @@
   "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": {
+    "offset_deg": 16.69,
+    "offset_rotvec": [
+     -0.1549,
+     -0.24,
+     -0.0574
+    ],
+    "dev_deg": {
+     "median": 7.55,
+     "p90": 19.02
+    },
+    "samples": 5719,
+    "accepted": 5544,
+    "wrist_pos_err_mm_median": 48.2,
+    "per_camera": {
+     "head": {
+      "samples": 5719,
+      "accepted": 5544,
+      "gate_deg": 30.0,
+      "offset_deg": 16.69,
+      "tier": "primary",
+      "dev_deg_median": 7.55,
+      "wrist_pos_err_mm_median": 48.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 22426,
+     "interpolated": 2426,
+     "mean_hand": 5,
+     "no_body_fit": 227
+    },
+    "observed_fraction": 0.9908,
+    "observed_fraction_of_valid": 0.9998,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.69,
+     "smplx": 0.69
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.8,
+      "p90": 11.8
+     },
+     "registered": {
+      "median": 11.4,
+      "p90": 13.0
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 9.11,
+    "offset_rotvec": [
+     -0.1032,
+     -0.0189,
+     0.1195
+    ],
+    "dev_deg": {
+     "median": 9.03,
+     "p90": 24.93
+    },
+    "samples": 5387,
+    "accepted": 5031,
+    "wrist_pos_err_mm_median": 75.6,
+    "per_camera": {
+     "head": {
+      "samples": 5387,
+      "accepted": 5031,
+      "gate_deg": 30.0,
+      "offset_deg": 9.11,
+      "tier": "primary",
+      "dev_deg_median": 9.03,
+      "wrist_pos_err_mm_median": 75.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 20500,
+     "interpolated": 4324,
+     "mean_hand": 33,
+     "no_body_fit": 227
+    },
+    "observed_fraction": 0.9896,
+    "observed_fraction_of_valid": 0.9987,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 9.84,
+     "smplx": 0.66
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.0,
+      "p90": 6.7
+     },
+     "registered": {
+      "median": 6.2,
+      "p90": 7.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:41:13.550479+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/P02/session_003",
   "family": "locomotion_primitives",
   "primitive": "P02",
   "source_session": "20260831/P02/20260831_020024_session5"
+ },
+ "task": {
+  "primitive": "P02",
+  "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P02/session_003/motions/hands_mano.npz b/actions/locomotion_primitives/P02/session_003/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..43ddca3b5ec43778ec6858af83e4eceac3068b5f
--- /dev/null
+++ b/actions/locomotion_primitives/P02/session_003/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4bdd37d2964bf5e5eab037dc10082cc6e1eb8c477b3f4eac44a6a76de3812ba
+size 7638979
diff --git a/actions/locomotion_primitives/P02/session_003/motions/smplx.npz b/actions/locomotion_primitives/P02/session_003/motions/smplx.npz
index 4cd0578b24b0431eb0f4405919d8e8d9a773ddab..fe4e0f631d3ee86e0d28a9e289387dc81ca9fc50 100644
--- a/actions/locomotion_primitives/P02/session_003/motions/smplx.npz
+++ b/actions/locomotion_primitives/P02/session_003/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e6a912a38fae488c3f891715f26f9e29d299e9d017e2484fca9929f91281f1c2
-size 9555495
+oid sha256:5b205d4b1a3b62dd0c75d6dfcb707ae958fa569c5f3434795ac625e1d41a1587
+size 17913206
diff --git a/actions/locomotion_primitives/P02/session_004/annotations.json b/actions/locomotion_primitives/P02/session_004/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5b338a129c2a67d8ca7a63852042a32553caef7
--- /dev/null
+++ b/actions/locomotion_primitives/P02/session_004/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": "P02",
+ "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 98.966667,
+   "video": "left_eye",
+   "video_t_start": 0.03834195233769355
+  }
+ ],
+ "episodes": [
+  {
+   "id": "bc92c7d8-a36d-4cb5-a90e-0ea31420f8f0",
+   "segment": "segment1",
+   "action": "P02",
+   "quality": "valid",
+   "start_s": 1.666,
+   "end_s": 8.086,
+   "t_start": 1.7043,
+   "t_end": 8.1243,
+   "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
+  },
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+ ]
+}
diff --git a/actions/locomotion_primitives/P02/session_004/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P02/session_004/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..7599b439593174c3e5ae549980be6f83a466eb3e
--- /dev/null
+++ b/actions/locomotion_primitives/P02/session_004/cameras/gsi_online_calibration.json
@@ -0,0 +1,261 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 211,
+    "median_px": 18.18,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.342
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.9263,
+   "gate_fail": [],
+   "held_out_px_after": 0.607,
+   "held_out_px_before": 7.149,
+   "inliers": 1664,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.0786,
+    0.8312,
+    0.4011
+   ],
+   "split_deg": 0.1444,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0874,
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+   "held_out_px_after": 0.354,
+   "held_out_px_before": 2.827,
+   "inliers": 2698,
+   "position_fitted": true,
+   "position_mm": [
+    -9.23,
+    7.74,
+    12.41
+   ],
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+   "position_split_mm": 5.144,
+   "rotvec_deg": [
+    0.0221,
+    0.7311,
+    -0.8047
+   ],
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+   "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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+   "held_out_px_before": 2.031,
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+   "rotvec_deg": [
+    0.3089,
+    -0.141,
+    -0.1422
+   ],
+   "split_deg": 0.106,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
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+   "inliers": 2899,
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+    7.32,
+    11.6
+   ],
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+   "rotvec_deg": [
+    0.1547,
+    0.3738,
+    -0.6888
+   ],
+   "split_deg": 0.1702,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+    0.4827,
+    -1.7483
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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": {
+   "sha256": "8c61df5da5b56fd654f4783aa71e09f4503e0271b0a64dc3a947c8f3661b5908",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
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+   "sha256": "7d030b66fbf5e936281f115abd7214c5a6e776d234b16e4d7dbcd157617e8148",
+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
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+   "sha256": "bb6dc9c3f1b7f15f88aaae0eca74322afcb9b5259de1a9bbbc9b429832c0c1b0",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "fb4ad4a73baa6b77",
+ "kind": "online_calibration",
+ "output_sha256": "0a9b4450cb894f5112edc5a0729dc341990d0c69ce1e0718297db988d9077bb2",
+ "overlap": {
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+  "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": 43.54,
+  "left_eye": 39.633,
+  "left_front": 44.104,
+  "right": 37.29,
+  "right_eye": 38.966,
+  "right_front": 44.776
+ },
+ "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/P02/session_004/cameras/slam.npz b/actions/locomotion_primitives/P02/session_004/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3e4b8ba1df889eb50f387374e64c57ec5ef914e0
--- /dev/null
+++ b/actions/locomotion_primitives/P02/session_004/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08a2fecaee960952ab9979a0b5c808e163aa4da1e4ceb348b98884c66b937f49
+size 568718
diff --git a/actions/locomotion_primitives/P02/session_004/meta.json b/actions/locomotion_primitives/P02/session_004/meta.json
index 34139eeea2335a64680832b232b13076061040da..6490e21eb7831bdcfb8b53087e058618885773fd 100644
--- a/actions/locomotion_primitives/P02/session_004/meta.json
+++ b/actions/locomotion_primitives/P02/session_004/meta.json
@@ -349,8 +349,8 @@
   "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 @@
   "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": 14.14,
+    "offset_rotvec": [
+     -0.134,
+     -0.2048,
+     -0.032
+    ],
+    "dev_deg": {
+     "median": 8.47,
+     "p90": 21.98
+    },
+    "samples": 2679,
+    "accepted": 2559,
+    "wrist_pos_err_mm_median": 51.4,
+    "per_camera": {
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+      "accepted": 2559,
+      "gate_deg": 30.0,
+      "offset_deg": 14.14,
+      "tier": "primary",
+      "dev_deg_median": 8.47,
+      "wrist_pos_err_mm_median": 51.4
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 1316,
+     "mean_hand": 5,
+     "no_body_fit": 167
+    },
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+    "observed_fraction_of_valid": 0.9996,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.17,
+     "smplx": 0.89
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
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+      "p90": 10.5
+     },
+     "registered": {
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+     }
+    }
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+     "p90": 22.72
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+    "accepted": 2557,
+    "wrist_pos_err_mm_median": 62.3,
+    "per_camera": {
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+      "accepted": 2557,
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+      "tier": "primary",
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+     }
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+     "no_body_fit": 167
+    },
+    "observed_fraction": 0.9734,
+    "observed_fraction_of_valid": 0.9873,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.6
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
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+      "p90": 7.9
+     },
+     "registered": {
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+      "p90": 7.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:43:15.823894+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/P02/session_004",
   "family": "locomotion_primitives",
   "primitive": "P02",
   "source_session": "20260831/P02/20260831_063105_session10"
+ },
+ "task": {
+  "primitive": "P02",
+  "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P02/session_004/motions/hands_mano.npz b/actions/locomotion_primitives/P02/session_004/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e74fcea60c080e9be05cdd51652031ee37ce5d9f
--- /dev/null
+++ b/actions/locomotion_primitives/P02/session_004/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81b3af025838e201be56d207faab494b43a17a509f76b14327c0070d36c85f3f
+size 3677575
diff --git a/actions/locomotion_primitives/P02/session_004/motions/smplx.npz b/actions/locomotion_primitives/P02/session_004/motions/smplx.npz
index d4039fd8bf7017476b526544864a5cb8e5a98a4f..7b9769a44c5afd61cffef09d64a58a3d5c767ae2 100644
--- a/actions/locomotion_primitives/P02/session_004/motions/smplx.npz
+++ b/actions/locomotion_primitives/P02/session_004/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 4511068
+oid sha256:08fcbbe6a69a96140f439eaa83cd757733fd2ed2a44d363714ad5c93f4217f0c
+size 8441899
diff --git a/actions/locomotion_primitives/P02/session_005/annotations.json b/actions/locomotion_primitives/P02/session_005/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5162ff0b8216d890db155b18019d3e6532c4dca
--- /dev/null
+++ b/actions/locomotion_primitives/P02/session_005/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": "P02",
+ "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 103.966633,
+   "video": "left_eye",
+   "video_t_start": 0.03864712730642195
+  }
+ ],
+ "episodes": [
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+   "end_s": 8.807,
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+   "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
+  },
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+   "t_start": 10.7346,
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+   "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
+  },
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+   "segment": "segment1",
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+   "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
+  },
+  {
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+   "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P02/session_005/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P02/session_005/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f07f39633712d45dfaf85d5843c6649f949dca7
--- /dev/null
+++ b/actions/locomotion_primitives/P02/session_005/cameras/gsi_online_calibration.json
@@ -0,0 +1,265 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 246,
+    "median_px": 699.75,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.355
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.904,
+   "gate_fail": [],
+   "held_out_px_after": 0.542,
+   "held_out_px_before": 6.882,
+   "inliers": 1790,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.0163,
+    0.8275,
+    0.3637
+   ],
+   "split_deg": 0.1401,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0679,
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+   "held_out_px_after": 0.344,
+   "held_out_px_before": 2.471,
+   "inliers": 2796,
+   "position_fitted": true,
+   "position_mm": [
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+    9.23,
+    11.66
+   ],
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+   "position_split_mm": 5.723,
+   "rotvec_deg": [
+    0.115,
+    0.6931,
+    -0.8042
+   ],
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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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+   "held_out_px_before": 2.2,
+   "inliers": 1406,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.4053,
+    -0.1715,
+    -0.1111
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+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
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+    8.37,
+    10.77
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+    0.2253,
+    0.342,
+    -0.6634
+   ],
+   "split_deg": 0.2003,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+   "held_out_px_before": 6.468,
+   "inliers": 4019,
+   "position_fitted": false,
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+    -0.3496,
+    0.4459,
+    -1.7795
+   ],
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+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "a79ded1b8c566c62fa81703c20e1c7fed1be9e1f9f2669135074bdc403f9afd6",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
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+   "sha256": "0b7a3a6b42f6fa863e752fb6fd0c19a20a1da26bdbc7108a69ac342bdcd2284d",
+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
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+  },
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+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "416e1025efa58133",
+ "kind": "online_calibration",
+ "output_sha256": "15165407dee123299c552de7817100e220eb81f2e29205ffb75f6c0a1958f820",
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+  "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": {
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+  "left_eye": 39.546,
+  "left_front": 45.376,
+  "right": 40.768,
+  "right_eye": 40.987,
+  "right_front": 45.442
+ },
+ "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/P02/session_005/cameras/slam.npz b/actions/locomotion_primitives/P02/session_005/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8eb95b5d0e47c8e5f53f02dc7d805b6e1c88fe1b
--- /dev/null
+++ b/actions/locomotion_primitives/P02/session_005/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c412783ed723c58afd80d38206ea350d9aca215c3cc98f09ab97481247103b33
+size 596061
diff --git a/actions/locomotion_primitives/P02/session_005/meta.json b/actions/locomotion_primitives/P02/session_005/meta.json
index eeb1318c9dc827f9b2038937c35f75ac84a8b3b1..26881910953295e94fe99b54597c3b44f8d46b98 100644
--- a/actions/locomotion_primitives/P02/session_005/meta.json
+++ b/actions/locomotion_primitives/P02/session_005/meta.json
@@ -350,8 +350,8 @@
   "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 @@
   "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": 14.48,
+    "offset_rotvec": [
+     -0.1228,
+     -0.219,
+     -0.0285
+    ],
+    "dev_deg": {
+     "median": 7.76,
+     "p90": 19.31
+    },
+    "samples": 2841,
+    "accepted": 2752,
+    "wrist_pos_err_mm_median": 55.9,
+    "per_camera": {
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+      "samples": 2841,
+      "accepted": 2752,
+      "gate_deg": 30.0,
+      "offset_deg": 14.48,
+      "tier": "primary",
+      "dev_deg_median": 7.76,
+      "wrist_pos_err_mm_median": 55.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11132,
+     "interpolated": 1156,
+     "mean_hand": 5,
+     "no_body_fit": 191
+    },
+    "observed_fraction": 0.9843,
+    "observed_fraction_of_valid": 0.9996,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 11.59,
+     "smplx": 0.81
+    },
+    "hand_marker_to_mesh_mm": {
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+      "median": 9.5,
+      "p90": 10.9
+     },
+     "registered": {
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+      "p90": 13.7
+     }
+    }
+   },
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+    "offset_rotvec": [
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+     -0.0746,
+     0.1075
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+    "dev_deg": {
+     "median": 7.11,
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+    "accepted": 2645,
+    "wrist_pos_err_mm_median": 62.6,
+    "per_camera": {
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+      "accepted": 2645,
+      "gate_deg": 30.0,
+      "offset_deg": 10.54,
+      "tier": "primary",
+      "dev_deg_median": 7.11,
+      "wrist_pos_err_mm_median": 62.6
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 1572,
+     "mean_hand": 5,
+     "no_body_fit": 191
+    },
+    "observed_fraction": 0.9843,
+    "observed_fraction_of_valid": 0.9996,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 11.3,
+     "smplx": 0.65
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.4,
+      "p90": 8.2
+     },
+     "registered": {
+      "median": 6.9,
+      "p90": 7.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:43:15.427268+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/P02/session_005",
   "family": "locomotion_primitives",
   "primitive": "P02",
   "source_session": "20260831/P02/20260831_063256_session11"
+ },
+ "task": {
+  "primitive": "P02",
+  "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P02/session_005/motions/hands_mano.npz b/actions/locomotion_primitives/P02/session_005/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..da58b1efc91c5b3493f4fe6942a418c5dfd56564
--- /dev/null
+++ b/actions/locomotion_primitives/P02/session_005/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:545fbbef93f1225176f65cce8fe75feacfeafe3c540063aa05b6607bb5e17e33
+size 3852403
diff --git a/actions/locomotion_primitives/P02/session_005/motions/smplx.npz b/actions/locomotion_primitives/P02/session_005/motions/smplx.npz
index 3ff672cf6eaaf9d72ff55df90d0d60f112c46a2a..fd6a0f676032e0e715d69ea3a88d7fc8e61b4c9b 100644
--- a/actions/locomotion_primitives/P02/session_005/motions/smplx.npz
+++ b/actions/locomotion_primitives/P02/session_005/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ad82281a143c3d608adf94568072e491b82d88a8110aecd28fa2be588c5a67f3
-size 4710404
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+size 8844336
diff --git a/actions/locomotion_primitives/P02/session_006/annotations.json b/actions/locomotion_primitives/P02/session_006/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d0e062963bea2f729711719485fadced73700a2
--- /dev/null
+++ b/actions/locomotion_primitives/P02/session_006/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": "P02",
+ "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 103.966667,
+   "video": "left_eye",
+   "video_t_start": 0.03928124155039492
+  }
+ ],
+ "episodes": [
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+   "segment": "segment1",
+   "action": "P02",
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+   "end_s": 8.662,
+   "t_start": 1.1623,
+   "t_end": 8.7013,
+   "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
+  },
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+   "segment": "segment1",
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+   "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
+  },
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+   "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
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+   "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
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+   "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
+  },
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+   "end_s": 97.117,
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+   "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P02/session_006/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P02/session_006/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bbf5eed01d872dc9684d60f187338ec0d5c938e
--- /dev/null
+++ b/actions/locomotion_primitives/P02/session_006/cameras/gsi_online_calibration.json
@@ -0,0 +1,266 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 163,
+    "median_px": 615.38,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.356
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.8895,
+   "gate_fail": [],
+   "held_out_px_after": 0.623,
+   "held_out_px_before": 7.02,
+   "inliers": 1944,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.0358,
+    0.8186,
+    0.3461
+   ],
+   "split_deg": 0.0427,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.1243,
+   "gate_fail": [],
+   "held_out_px_after": 0.346,
+   "held_out_px_before": 2.649,
+   "inliers": 3380,
+   "position_fitted": true,
+   "position_mm": [
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+    11.67,
+    11.41
+   ],
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+   "position_split_mm": 3.416,
+   "rotvec_deg": [
+    0.1778,
+    0.7382,
+    -0.8291
+   ],
+   "split_deg": 0.1208,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.3814,
+   "gate_fail": [],
+   "held_out_px_after": 0.605,
+   "held_out_px_before": 2.234,
+   "inliers": 1625,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.3512,
+    -0.1226,
+    -0.0846
+   ],
+   "split_deg": 0.0748,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.7958,
+   "gate_fail": [],
+   "held_out_px_after": 0.36,
+   "held_out_px_before": 1.967,
+   "inliers": 3533,
+   "position_fitted": true,
+   "position_mm": [
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+    9.93,
+    9.3
+   ],
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+   "position_split_mm": 3.86,
+   "rotvec_deg": [
+    0.2544,
+    0.3434,
+    -0.6713
+   ],
+   "split_deg": 0.1035,
+   "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": 6.884,
+   "inliers": 4051,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3364,
+    0.4795,
+    -1.7919
+   ],
+   "split_deg": 0.0177,
+   "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": "2eff6162e1b0243a5c64cb8a958c52ded86efc5a805a4a8d5a8b1f8b968ceda1",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "90b1fd7571dcc32ba4053e1789363a122124e81320630bd174f95e4b44ae936c",
+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "39c11e426b544a67b663bda99c6e5156312ff624493eff2d4d649ddba9d7f784",
+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "089486f0c8c1aa0edbefbc0d934a2810998030be5514e29f67c382798a214572",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "0b902f0606df0561",
+ "kind": "online_calibration",
+ "output_sha256": "15081a92eea8d5003327e6db293ad595f85f5934b740fc8b2c52a09a57c7ef17",
+ "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": 45.218,
+  "left_eye": 38.112,
+  "left_front": 44.662,
+  "right": 39.002,
+  "right_eye": 40.592,
+  "right_front": 44.38
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   8113972433888,
+   8114972456111,
+   8118972433888,
+   8119972445000,
+   8120972445000,
+   8121972422777,
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+   8163972433888,
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+   8167972422777,
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+   8182972433888,
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+   8184972445000,
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+   8208972433888,
+   8212972433888,
+   8213972433888
+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P02/session_006/cameras/slam.npz b/actions/locomotion_primitives/P02/session_006/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3bd01d378644c1e0a426c01b76cf9c3372f1f391
--- /dev/null
+++ b/actions/locomotion_primitives/P02/session_006/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c7f726a92b95ddc57c6bb99ed5da48c300ff3daac3e6b26313b4048a959c4e9
+size 598384
diff --git a/actions/locomotion_primitives/P02/session_006/meta.json b/actions/locomotion_primitives/P02/session_006/meta.json
index fe8c118eab109ed420922ada3377fbd7f2faa8eb..432679093af71ea09a5a681361069b07034c4ddb 100644
--- a/actions/locomotion_primitives/P02/session_006/meta.json
+++ b/actions/locomotion_primitives/P02/session_006/meta.json
@@ -334,8 +334,8 @@
   "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": {
+    "offset_deg": 16.91,
+    "offset_rotvec": [
+     -0.1409,
+     -0.2592,
+     0.0021
+    ],
+    "dev_deg": {
+     "median": 7.95,
+     "p90": 20.05
+    },
+    "samples": 2880,
+    "accepted": 2797,
+    "wrist_pos_err_mm_median": 46.5,
+    "per_camera": {
+     "head": {
+      "samples": 2880,
+      "accepted": 2797,
+      "gate_deg": 30.0,
+      "offset_deg": 16.91,
+      "tier": "primary",
+      "dev_deg_median": 7.95,
+      "wrist_pos_err_mm_median": 46.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11322,
+     "interpolated": 1150,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.999,
+    "observed_fraction_of_valid": 0.999,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 14.62,
+     "smplx": 0.94
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.7,
+      "p90": 7.1
+     },
+     "registered": {
+      "median": 6.7,
+      "p90": 7.4
+     }
+    }
+   },
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+    "offset_rotvec": [
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+     -0.0838,
+     0.105
+    ],
+    "dev_deg": {
+     "median": 7.46,
+     "p90": 24.71
+    },
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+    "accepted": 2541,
+    "wrist_pos_err_mm_median": 60.2,
+    "per_camera": {
+     "head": {
+      "samples": 2709,
+      "accepted": 2541,
+      "gate_deg": 30.0,
+      "offset_deg": 9.75,
+      "tier": "primary",
+      "dev_deg_median": 7.46,
+      "wrist_pos_err_mm_median": 60.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10336,
+     "interpolated": 2012,
+     "mean_hand": 136,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9891,
+    "observed_fraction_of_valid": 0.9891,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 11.92,
+     "smplx": 0.76
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.6,
+      "p90": 6.6
+     },
+     "registered": {
+      "median": 5.6,
+      "p90": 6.5
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:43:22.928799+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/P02/session_006",
   "family": "locomotion_primitives",
   "primitive": "P02",
   "source_session": "20260831/P02/20260831_080301_session37"
+ },
+ "task": {
+  "primitive": "P02",
+  "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P02/session_006/motions/hands_mano.npz b/actions/locomotion_primitives/P02/session_006/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..adb02861e2dc1ffbecdebb259be0f6106ea3bb20
--- /dev/null
+++ b/actions/locomotion_primitives/P02/session_006/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa2c6b321b9781677a6708550b77f4eca14d186c8a05e989d7b4839a68c8b52d
+size 3811332
diff --git a/actions/locomotion_primitives/P02/session_006/motions/smplx.npz b/actions/locomotion_primitives/P02/session_006/motions/smplx.npz
index bb698d2bedc1b577d14dba90d33e89e3ac8eb091..081029ced773f32897086bdf35b472d61f49e4c8 100644
--- a/actions/locomotion_primitives/P02/session_006/motions/smplx.npz
+++ b/actions/locomotion_primitives/P02/session_006/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:03becc43bbfec166f124fd0971e002c76f8797fb75b1c80db3022e8e0476b7e8
-size 4799646
+oid sha256:d784c6ab0448e7a2add0a5d065d226d181d1bf8e57be926c94467508f621c0ba
+size 8984565
diff --git a/actions/locomotion_primitives/P02/session_007/annotations.json b/actions/locomotion_primitives/P02/session_007/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cf35154d98a6563e2f779bff37f1f78245e68f5
--- /dev/null
+++ b/actions/locomotion_primitives/P02/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": "P02",
+ "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 83.966656,
+   "video": "left_eye",
+   "video_t_start": 0.038572461679120984
+  }
+ ],
+ "episodes": [
+  {
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+   "segment": "segment1",
+   "action": "P02",
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+   "end_s": 7.894,
+   "t_start": 1.2206,
+   "t_end": 7.9326,
+   "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
+  },
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+   "action": "P02",
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+   "t_end": 17.5946,
+   "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
+  },
+  {
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+   "segment": "segment1",
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+   "end_s": 27.771,
+   "t_start": 20.4476,
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+   "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
+  },
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+   "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
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+   "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
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+   "t_end": 57.3756,
+   "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
+  },
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+   "t_start": 59.8646,
+   "t_end": 67.0246,
+   "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
+  },
+  {
+   "id": "d62b5d06-88da-40b9-8a8b-acdb4d9542ad",
+   "segment": "segment1",
+   "action": "P02",
+   "quality": "valid",
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+   "end_s": 77.023,
+   "t_start": 69.8776,
+   "t_end": 77.0616,
+   "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P02/session_007/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P02/session_007/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..77bdf664aad190b54f8aae65473e4eac1a1c2976
--- /dev/null
+++ b/actions/locomotion_primitives/P02/session_007/cameras/gsi_online_calibration.json
@@ -0,0 +1,259 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 171,
+    "median_px": 622.03,
+    "pair": [
+     "left",
+     "right"
+    ]
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+ },
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+  },
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+    "left_front",
+    "right_front",
+    "left_eye",
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+    -0.0482
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+   "usable": true
+  },
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
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+    6.37,
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+    0.3693,
+    -0.6396
+   ],
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+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
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+    "right_eye",
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+    "right"
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+  }
+ },
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+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
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+  },
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+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
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+  },
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+  }
+ },
+ "input_fingerprint": "2a51785f9072ed3d",
+ "kind": "online_calibration",
+ "output_sha256": "f437aaa95cd026307a49820bf6c8774b0b665d19d98d7ea69549ede7e7aa5f26",
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+  "left_front-left": 0.484,
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+  "left_front-right_eye": 0.711,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.708,
+  "right_eye-left_eye": 1.0,
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+  "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": 37.143,
+  "left_front": 45.003,
+  "right": 35.567,
+  "right_eye": 38.656,
+  "right_front": 43.476
+ },
+ "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/P02/session_007/cameras/slam.npz b/actions/locomotion_primitives/P02/session_007/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a460602e97b5ccf1a24ad8545d57580d7910a8e4
--- /dev/null
+++ b/actions/locomotion_primitives/P02/session_007/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83f235722c20e48f49f3eae1e547e85e0c7d7cd03bfb9ae6ef8950e333309ec3
+size 483139
diff --git a/actions/locomotion_primitives/P02/session_007/meta.json b/actions/locomotion_primitives/P02/session_007/meta.json
index 07f03635bd557862926e84da53096e706efccea3..f3ef187fc80283adb73f5403b3ff52b598cd746b 100644
--- a/actions/locomotion_primitives/P02/session_007/meta.json
+++ b/actions/locomotion_primitives/P02/session_007/meta.json
@@ -337,8 +337,8 @@
   "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": {
+   "left": {
+    "offset_deg": 15.46,
+    "offset_rotvec": [
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+     -0.2266,
+     -0.0144
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+     "p90": 18.89
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+    "accepted": 2161,
+    "wrist_pos_err_mm_median": 50.4,
+    "per_camera": {
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+      "accepted": 2161,
+      "gate_deg": 30.0,
+      "offset_deg": 15.46,
+      "tier": "primary",
+      "dev_deg_median": 7.98,
+      "wrist_pos_err_mm_median": 50.4
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 1294,
+     "mean_hand": 12,
+     "no_body_fit": 0
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+    "observed_fraction_of_valid": 0.9988,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 1.01
+    },
+    "hand_marker_to_mesh_mm": {
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+    "accepted": 2102,
+    "wrist_pos_err_mm_median": 65.6,
+    "per_camera": {
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+     "no_body_fit": 0
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+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.77
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+     },
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+      "p90": 6.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:43:13.627046+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/P02/session_007",
   "family": "locomotion_primitives",
   "primitive": "P02",
   "source_session": "20260831/P02/20260831_080457_session38"
+ },
+ "task": {
+  "primitive": "P02",
+  "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P02/session_007/motions/hands_mano.npz b/actions/locomotion_primitives/P02/session_007/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e7482916efe828c7eef75d03ad975b381fb58b19
--- /dev/null
+++ b/actions/locomotion_primitives/P02/session_007/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7c0a1b23aee142756ae227e7b25e4aec0a035fda8de61a6295891b9e5d9075c
+size 3033023
diff --git a/actions/locomotion_primitives/P02/session_007/motions/smplx.npz b/actions/locomotion_primitives/P02/session_007/motions/smplx.npz
index c315f1bb79088725555d0d474cf15eb247fc2684..8927874aa089fce33c88c541f5b7cc80346de8ee 100644
--- a/actions/locomotion_primitives/P02/session_007/motions/smplx.npz
+++ b/actions/locomotion_primitives/P02/session_007/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 3875429
+oid sha256:6d5ca7895f6d4d3060e5cf296bf52612b9ec3e5edc9020c10ccd6ed7f59e166e
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diff --git a/actions/locomotion_primitives/P02/session_008/annotations.json b/actions/locomotion_primitives/P02/session_008/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..51c7269661f72347cc7bb2207bdfe9ddf27380ce
--- /dev/null
+++ b/actions/locomotion_primitives/P02/session_008/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": "P02",
+ "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 83.966578,
+   "video": "left_eye",
+   "video_t_start": 0.037903941179843414
+  }
+ ],
+ "episodes": [
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+  },
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P02/session_008/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P02/session_008/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..746b45be05845e9d4851c43d8204f15a112df533
--- /dev/null
+++ b/actions/locomotion_primitives/P02/session_008/cameras/gsi_online_calibration.json
@@ -0,0 +1,261 @@
+{
+ "camera_fit": {
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+   {
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+    "median_px": 16.85,
+    "pair": [
+     "left",
+     "right"
+    ]
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+  "median_px": 0.352
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
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+   "rotvec_deg": [
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+    0.831,
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+   "split_deg": 0.008,
+   "usable": true
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+    "left",
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+   "position_fitted": true,
+   "position_mm": [
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+    9.19,
+    12.3
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+   "rotvec_deg": [
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+   "usable": true
+  },
+  "left_front": {
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+  },
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+   "against": [
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+    "right_front",
+    "left_eye",
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+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
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+    8.5,
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+   "rotvec_deg": [
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+    0.3303,
+    -0.6465
+   ],
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+   "usable": true
+  },
+  "right_front": {
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+   "against": [
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+    "left_eye",
+    "right_eye",
+    "left",
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+    0.4736,
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+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
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+  }
+ },
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+ "kind": "online_calibration",
+ "output_sha256": "f514fdadb919478818657d45da43973224814e9bccb906cfa1b9182e4fa6bae2",
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+  "left_front-right": 0.464,
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+  "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": 37.495,
+  "left_front": 45.259,
+  "right": 35.208,
+  "right_eye": 39.378,
+  "right_front": 43.372
+ },
+ "runtime": {
+  "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/P02/session_008/cameras/slam.npz b/actions/locomotion_primitives/P02/session_008/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9616715d298079950ccc9747d46d30828a3ceed4
--- /dev/null
+++ b/actions/locomotion_primitives/P02/session_008/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c285f018c184919876a19782434ca5f7b4afaa23c880472069d19ab71a57b0ec
+size 482585
diff --git a/actions/locomotion_primitives/P02/session_008/meta.json b/actions/locomotion_primitives/P02/session_008/meta.json
index 50f1097c1b9a63cd68019d2f8adb60a5a87aadf4..e8a40b599f894b362877e50ffe81bb07b504f5af 100644
--- a/actions/locomotion_primitives/P02/session_008/meta.json
+++ b/actions/locomotion_primitives/P02/session_008/meta.json
@@ -334,8 +334,8 @@
   "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": {
+    "offset_deg": 15.93,
+    "offset_rotvec": [
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+     -0.2348,
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+     "p90": 19.53
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+    "accepted": 2131,
+    "wrist_pos_err_mm_median": 51.0,
+    "per_camera": {
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+      "accepted": 2131,
+      "gate_deg": 30.0,
+      "offset_deg": 15.93,
+      "tier": "primary",
+      "dev_deg_median": 7.96,
+      "wrist_pos_err_mm_median": 51.0
+     }
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+     "interpolated": 1414,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
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+    "observed_fraction_of_valid": 0.9988,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.54,
+     "smplx": 1.0
+    },
+    "hand_marker_to_mesh_mm": {
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+     }
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+    "accepted": 2039,
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+    "per_camera": {
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+      "tier": "primary",
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+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 6.9
+     },
+     "registered": {
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+      "p90": 6.5
+     }
+    }
+   }
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+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:43:12.923113+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/P02/session_008",
   "family": "locomotion_primitives",
   "primitive": "P02",
   "source_session": "20260831/P02/20260831_080634_session39"
+ },
+ "task": {
+  "primitive": "P02",
+  "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P02/session_008/motions/hands_mano.npz b/actions/locomotion_primitives/P02/session_008/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ba5efe4215b50d27bf8a2571f570f27d098d2d1c
--- /dev/null
+++ b/actions/locomotion_primitives/P02/session_008/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0312fb7883a7b96a958b02dcf4de4e13122a2d45e9ad5f4137a8bddf7adc741f
+size 3015585
diff --git a/actions/locomotion_primitives/P02/session_008/motions/smplx.npz b/actions/locomotion_primitives/P02/session_008/motions/smplx.npz
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--- a/actions/locomotion_primitives/P02/session_008/motions/smplx.npz
+++ b/actions/locomotion_primitives/P02/session_008/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 3872135
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diff --git a/actions/locomotion_primitives/P02/session_009/annotations.json b/actions/locomotion_primitives/P02/session_009/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..62d4eea4f85889e26fd3f1511e6145448eba3d38
--- /dev/null
+++ b/actions/locomotion_primitives/P02/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": "P02",
+ "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop.",
+ "segments": [
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+   "video": "left_eye",
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+  }
+ ],
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P02/session_009/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P02/session_009/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed789a11c813ac611f61bf827cc104ab79084e56
--- /dev/null
+++ b/actions/locomotion_primitives/P02/session_009/cameras/gsi_online_calibration.json
@@ -0,0 +1,263 @@
+{
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+ },
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+    0.8154,
+    0.3213
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+   "usable": true
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+   "position_fitted": true,
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+    0.4923,
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+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
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+  },
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+  }
+ },
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+ "kind": "online_calibration",
+ "output_sha256": "d7a0e7c603d6ccde722cc4162a44d878ff67cdea7e00ac3a79a5aa5684157a2f",
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+  "left_front-right": 0.464,
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+  "right_eye-left": 0.708,
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+  "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": 35.551,
+  "left_front": 45.908,
+  "right": 35.693,
+  "right_eye": 38.3,
+  "right_front": 44.275
+ },
+ "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/P02/session_009/cameras/slam.npz b/actions/locomotion_primitives/P02/session_009/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c4dc2c99ff7561ffdfb3c731a7a0ffde9692f2c6
--- /dev/null
+++ b/actions/locomotion_primitives/P02/session_009/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f3cccf8e0f160c85ad92be5cd84f07705f3a25afa87ae1ec7837b4abf2e8373
+size 597640
diff --git a/actions/locomotion_primitives/P02/session_009/meta.json b/actions/locomotion_primitives/P02/session_009/meta.json
index 2993b918813cdca4fed51612e013ff0cf7690068..38acaec5a3c450da87b1021316ff42ef1612ca3c 100644
--- a/actions/locomotion_primitives/P02/session_009/meta.json
+++ b/actions/locomotion_primitives/P02/session_009/meta.json
@@ -335,8 +335,8 @@
   "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": {
@@ -516,10 +516,124 @@
   "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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+    "accepted": 2681,
+    "wrist_pos_err_mm_median": 50.1,
+    "per_camera": {
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+      "accepted": 2681,
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+      "offset_deg": 16.1,
+      "tier": "primary",
+      "dev_deg_median": 7.99,
+      "wrist_pos_err_mm_median": 50.1
+     }
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+     "interpolated": 1600,
+     "mean_hand": 12,
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+    "observed_fraction_of_valid": 0.999,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.98
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+     "no_body_fit": 0
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+      "p90": 6.6
+     }
+    }
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:43:23.122382+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/P02/session_009",
   "family": "locomotion_primitives",
   "primitive": "P02",
   "source_session": "20260831/P02/20260831_080809_session40"
+ },
+ "task": {
+  "primitive": "P02",
+  "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P02/session_009/motions/hands_mano.npz b/actions/locomotion_primitives/P02/session_009/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a6e826c0d284669a17393ee5e2bc352828292dff
--- /dev/null
+++ b/actions/locomotion_primitives/P02/session_009/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3682600
diff --git a/actions/locomotion_primitives/P02/session_009/motions/smplx.npz b/actions/locomotion_primitives/P02/session_009/motions/smplx.npz
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--- a/actions/locomotion_primitives/P02/session_009/motions/smplx.npz
+++ b/actions/locomotion_primitives/P02/session_009/motions/smplx.npz
@@ -1,3 +1,3 @@
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-oid sha256:f8fd559dfc537cdb3271d0726d961cb6d460fc317d98c39a1989ec684ad66947
-size 4794839
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diff --git a/actions/locomotion_primitives/P02/session_010/annotations.json b/actions/locomotion_primitives/P02/session_010/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..de928cba7a6466608441b8e965859a531b352c6d
--- /dev/null
+++ b/actions/locomotion_primitives/P02/session_010/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": "P02",
+ "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop.",
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+   "video": "left_eye",
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+  }
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+ ]
+}
diff --git a/actions/locomotion_primitives/P02/session_010/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P02/session_010/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d24796d4efb10f504288b23018e9cc755ec354f
--- /dev/null
+++ b/actions/locomotion_primitives/P02/session_010/cameras/gsi_online_calibration.json
@@ -0,0 +1,266 @@
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+    0.3179
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+   "usable": true
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+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
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+  },
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+  },
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+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
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+  }
+ },
+ "input_fingerprint": "627fb0670ed26569",
+ "kind": "online_calibration",
+ "output_sha256": "8cc41d192442bde75bc19b5355ad04739f5dda42b2bb4a618e4d4d26283532a8",
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+  "left_front-left_eye": 0.709,
+  "left_front-right": 0.464,
+  "left_front-right_eye": 0.711,
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+  "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": 36.339,
+  "left_front": 44.728,
+  "right": 39.202,
+  "right_eye": 38.634,
+  "right_front": 45.265
+ },
+ "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/P02/session_010/cameras/slam.npz b/actions/locomotion_primitives/P02/session_010/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3a89be4c0f250bf88866bc727450200c757d54c9
--- /dev/null
+++ b/actions/locomotion_primitives/P02/session_010/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5b3a2abc788e5fee74a197c1d3fd45311e5fb5ccae4de7881f764ab489b9f7a
+size 596955
diff --git a/actions/locomotion_primitives/P02/session_010/meta.json b/actions/locomotion_primitives/P02/session_010/meta.json
index 0853a840c0fcceadfd6f6a8faa15e5d12babab3e..905678c2da80f0c37c542496b5f84f7d5cf43afd 100644
--- a/actions/locomotion_primitives/P02/session_010/meta.json
+++ b/actions/locomotion_primitives/P02/session_010/meta.json
@@ -334,8 +334,8 @@
   "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": {
+    "offset_deg": 17.86,
+    "offset_rotvec": [
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+     -0.2646,
+     0.0012
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+     "median": 8.93,
+     "p90": 22.58
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+    "accepted": 2635,
+    "wrist_pos_err_mm_median": 49.8,
+    "per_camera": {
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+      "accepted": 2635,
+      "gate_deg": 30.0,
+      "offset_deg": 17.86,
+      "tier": "primary",
+      "dev_deg_median": 8.93,
+      "wrist_pos_err_mm_median": 49.8
+     }
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+     "interpolated": 1762,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.999,
+    "observed_fraction_of_valid": 0.999,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 1.08
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+    "accepted": 2331,
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+    "hand_marker_to_mesh_mm": {
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+      "p90": 7.0
+     }
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+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  ],
+  "generated_at_utc": "2026-11-03T12:43:22.625897+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": "P02",
   "source_session": "20260831/P02/20260831_081002_session41"
+ },
+ "task": {
+  "primitive": "P02",
+  "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P02/session_010/motions/hands_mano.npz b/actions/locomotion_primitives/P02/session_010/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bb4a97f0f12ab059c934b58be242102bf0fe9b97
--- /dev/null
+++ b/actions/locomotion_primitives/P02/session_010/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03383514881da7c5efd82c7766a9c706a27260e6934d1d93c15fde64ca09a2f2
+size 3669266
diff --git a/actions/locomotion_primitives/P02/session_010/motions/smplx.npz b/actions/locomotion_primitives/P02/session_010/motions/smplx.npz
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--- a/actions/locomotion_primitives/P02/session_010/motions/smplx.npz
+++ b/actions/locomotion_primitives/P02/session_010/motions/smplx.npz
@@ -1,3 +1,3 @@
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-oid sha256:3d3fa69a1614ca745981b1aa5b50c6aa3ef0e8b1c11b615d854aecf41503a359
-size 4798771
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+size 8968123
diff --git a/actions/locomotion_primitives/P02/session_011/annotations.json b/actions/locomotion_primitives/P02/session_011/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1e34031003216bf10953ac0ea78816933d4330e
--- /dev/null
+++ b/actions/locomotion_primitives/P02/session_011/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": "P02",
+ "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop.",
+ "segments": [
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+   "video": "left_eye",
+   "video_t_start": 0.038648996910477074
+  }
+ ],
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P02/session_011/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P02/session_011/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..807fbd0e918e43ef205409083c059a1b3e6b7e01
--- /dev/null
+++ b/actions/locomotion_primitives/P02/session_011/cameras/gsi_online_calibration.json
@@ -0,0 +1,267 @@
+{
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+ },
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+   "against": [
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+    "right_front",
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+    0.7927,
+    0.3128
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+   "usable": true
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+    "left_front",
+    "right_front",
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+  },
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+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
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+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "93d842639ecd982c59bdc5977e23fe1a7a680bc3a305d17ea0f967bcf81b9d20",
+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "286cb7f51fcaff46ad0ec9ffd82b07f4e225ed10e92182d467aa8d4b3a42cfa4",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
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+  "right_front": 44.351
+ },
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+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P02/session_011/cameras/slam.npz b/actions/locomotion_primitives/P02/session_011/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9fcd8a455cc6d2d52113d4fab209a4b36b6c508c
--- /dev/null
+++ b/actions/locomotion_primitives/P02/session_011/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d52ca1bbc78b961359e18ace91e665e84df49b8f700bb9515639ff5884744d63
+size 597983
diff --git a/actions/locomotion_primitives/P02/session_011/meta.json b/actions/locomotion_primitives/P02/session_011/meta.json
index b313f5250acaa19ec83b4ea1cdcd84c34eb04f18..0f53b1fe4452c6ad92d2a10cf47bb40cbdb86a78 100644
--- a/actions/locomotion_primitives/P02/session_011/meta.json
+++ b/actions/locomotion_primitives/P02/session_011/meta.json
@@ -334,8 +334,8 @@
   "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": {
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+    "accepted": 2573,
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+      "tier": "primary",
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+    "observed_fraction_of_valid": 0.999,
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+      "p90": 5.1
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+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  "generated_at_utc": "2026-11-03T12:43:16.328779+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": "P02",
   "source_session": "20260831/P02/20260831_081157_session42"
+ },
+ "task": {
+  "primitive": "P02",
+  "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P02/session_011/motions/hands_mano.npz b/actions/locomotion_primitives/P02/session_011/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d0c1b76f5fb2558dfd7c8d34ae74baaa808c4c24
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da55929515067a2da316fe7eb224de95c18253bb3a3881b9e366481479e16a79
+size 3593166
diff --git a/actions/locomotion_primitives/P02/session_011/motions/smplx.npz b/actions/locomotion_primitives/P02/session_011/motions/smplx.npz
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--- a/actions/locomotion_primitives/P02/session_011/motions/smplx.npz
+++ b/actions/locomotion_primitives/P02/session_011/motions/smplx.npz
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-size 4796097
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new file mode 100644
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--- /dev/null
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@@ -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": "P02",
+ "instruction": "Walk forward noticeably slower than normal; do not shuffle; stop.",
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+ ]
+}
diff --git a/actions/locomotion_primitives/P02/session_012/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P02/session_012/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..838a86961f2c724088a9752c0352ccdcf1d2d925
--- /dev/null
+++ b/actions/locomotion_primitives/P02/session_012/cameras/gsi_online_calibration.json
@@ -0,0 +1,262 @@
+{
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+}
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new file mode 100644
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--- /dev/null
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diff --git a/actions/locomotion_primitives/P02/session_012/meta.json b/actions/locomotion_primitives/P02/session_012/meta.json
index 8c0143d6a785f6d03054b672d119fc081ad1719a..b4cdf47aa4979412684e74c06b90244e00050b86 100644
--- a/actions/locomotion_primitives/P02/session_012/meta.json
+++ b/actions/locomotion_primitives/P02/session_012/meta.json
@@ -348,8 +348,8 @@
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   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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@@ -529,10 +529,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
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+ },
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   "source_session": "20260904/P02/20260904_021232_session6"
+ },
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  }
 }
diff --git a/actions/locomotion_primitives/P02/session_012/motions/hands_mano.npz b/actions/locomotion_primitives/P02/session_012/motions/hands_mano.npz
new file mode 100644
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--- /dev/null
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--- /dev/null
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+}
diff --git a/actions/locomotion_primitives/P02/session_013/cameras/slam.npz b/actions/locomotion_primitives/P02/session_013/cameras/slam.npz
new file mode 100644
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--- /dev/null
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+++ b/actions/locomotion_primitives/P02/session_013/meta.json
@@ -341,8 +341,8 @@
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@@ -522,10 +522,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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  }
 }
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