diff --git a/actions/locomotion_primitives/P14/session_010/meta.json b/actions/locomotion_primitives/P14/session_010/meta.json
index d85ea9a3b7153de10604f1094b1ab71ea4bfa4f4..fd02cbf0b4b8b4bd3545e2cf9bd93cb4b5947533 100644
--- a/actions/locomotion_primitives/P14/session_010/meta.json
+++ b/actions/locomotion_primitives/P14/session_010/meta.json
@@ -340,8 +340,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -525,10 +525,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.654695728477688
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 29.26,
+    "offset_rotvec": [
+     0.3454,
+     -0.3688,
+     0.0738
+    ],
+    "dev_deg": {
+     "median": 16.9,
+     "p90": 35.95
+    },
+    "samples": 3231,
+    "accepted": 2772,
+    "wrist_pos_err_mm_median": 36.3,
+    "per_camera": {
+     "head": {
+      "samples": 3231,
+      "accepted": 2772,
+      "gate_deg": 30.0,
+      "offset_deg": 29.26,
+      "tier": "primary",
+      "dev_deg_median": 16.9,
+      "wrist_pos_err_mm_median": 36.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11216,
+     "interpolated": 2220,
+     "mean_hand": 240,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9819,
+    "observed_fraction_of_valid": 0.9825,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 25.51,
+     "smplx": 0.71
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.2,
+      "p90": 12.2
+     },
+     "registered": {
+      "median": 7.2,
+      "p90": 11.7
+     }
+    }
+   },
+   "right": {
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+    "offset_rotvec": [
+     0.2541,
+     0.1698,
+     0.054
+    ],
+    "dev_deg": {
+     "median": 11.5,
+     "p90": 25.91
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+    "samples": 3310,
+    "accepted": 3087,
+    "wrist_pos_err_mm_median": 45.3,
+    "per_camera": {
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+      "accepted": 3087,
+      "gate_deg": 30.0,
+      "offset_deg": 17.78,
+      "tier": "primary",
+      "dev_deg_median": 11.5,
+      "wrist_pos_err_mm_median": 45.3
+     }
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+    "frames_by_state": {
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+     "interpolated": 1038,
+     "mean_hand": 204,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9845,
+    "observed_fraction_of_valid": 0.9851,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 16.16,
+     "smplx": 0.64
+    },
+    "hand_marker_to_mesh_mm": {
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+      "median": 7.6,
+      "p90": 9.5
+     },
+     "registered": {
+      "median": 7.5,
+      "p90": 9.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:25:59.268231+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/P14/session_010",
   "family": "locomotion_primitives",
   "primitive": "P14",
   "source_session": "20260929/P14/20260929_114614_session219"
+ },
+ "task": {
+  "primitive": "P14",
+  "instruction": "Move laterally left/right for ~3 m; natural controlled steps; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P14/session_010/motions/hands_mano.npz b/actions/locomotion_primitives/P14/session_010/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..492c0ffd549590941a4f7df61630b790d7d5b015
--- /dev/null
+++ b/actions/locomotion_primitives/P14/session_010/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6eea962c04af29f6b09e6d635a1d0b734b1daaab53e5c2577b6c0609a4ddf72
+size 4428215
diff --git a/actions/locomotion_primitives/P14/session_010/motions/smplx.npz b/actions/locomotion_primitives/P14/session_010/motions/smplx.npz
index e229dbcfc7fe1086165f9144c39c0998a2132f7f..001d14eae4dd1e63ff07f88eac42046c0765b072 100644
--- a/actions/locomotion_primitives/P14/session_010/motions/smplx.npz
+++ b/actions/locomotion_primitives/P14/session_010/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P14/session_011/annotations.json b/actions/locomotion_primitives/P14/session_011/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dad9d4c76b2bbf2d6b29428c8ba957a5a0248a0
--- /dev/null
+++ b/actions/locomotion_primitives/P14/session_011/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": "P14",
+ "instruction": "Move laterally left/right for ~3 m; natural controlled steps; stop.",
+ "segments": [
+  {
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+   "video": "left_eye",
+   "video_t_start": 0.039055909336281225
+  }
+ ],
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+   "instruction": "Move laterally left/right for ~3 m; natural controlled steps; stop."
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+   "instruction": "Move laterally left/right for ~3 m; natural controlled steps; stop."
+  },
+  {
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+   "instruction": "Move laterally left/right for ~3 m; natural controlled steps; stop."
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+ ]
+}
diff --git a/actions/locomotion_primitives/P14/session_011/cameras/slam.npz b/actions/locomotion_primitives/P14/session_011/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1829bfebfd0ca5fdc4a2464d52a15fc1238e8859
--- /dev/null
+++ b/actions/locomotion_primitives/P14/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/P14/session_011/meta.json b/actions/locomotion_primitives/P14/session_011/meta.json
index e041b5b12619327116f5b6cf8beec1ce209216d4..3d497f1edf7aeaeca4a4211304094a27b4d53664 100644
--- a/actions/locomotion_primitives/P14/session_011/meta.json
+++ b/actions/locomotion_primitives/P14/session_011/meta.json
@@ -324,8 +324,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -506,10 +506,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.6997767273888196
  },
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+  "cameras": {},
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+     0.1607
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+     "p90": 37.3
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+    "accepted": 716,
+    "wrist_pos_err_mm_median": 240.1,
+    "per_camera": {
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+      "accepted": 716,
+      "gate_deg": 30.0,
+      "offset_deg": 35.24,
+      "tier": "primary",
+      "dev_deg_median": 23.57,
+      "wrist_pos_err_mm_median": 240.1
+     }
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+     "interpolated": 3034,
+     "mean_hand": 388,
+     "no_body_fit": 8
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+    "observed_fraction_of_valid": 0.9401,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 1.1
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+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
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   "family": "locomotion_primitives",
   "primitive": "P14",
   "source_session": "20260930/P14/20260930_024114_session44"
+ },
+ "task": {
+  "primitive": "P14",
+  "instruction": "Move laterally left/right for ~3 m; natural controlled steps; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P14/session_011/motions/hands_mano.npz b/actions/locomotion_primitives/P14/session_011/motions/hands_mano.npz
new file mode 100644
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diff --git a/actions/locomotion_primitives/P14/session_012/annotations.json b/actions/locomotion_primitives/P14/session_012/annotations.json
new file mode 100644
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+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P14",
+ "instruction": "Move laterally left/right for ~3 m; natural controlled steps; stop.",
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+}
diff --git a/actions/locomotion_primitives/P14/session_012/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P14/session_012/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..286fbbe4f419ae4f2a1da1a34709aaf6e6cfb863
--- /dev/null
+++ b/actions/locomotion_primitives/P14/session_012/cameras/gsi_online_calibration.json
@@ -0,0 +1,254 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.383
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+   "held_out_px_before": 5.407,
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+    -0.4487,
+    -1.0474
+   ],
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+   "usable": true
+  },
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+   "against": [
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+    "right_front",
+    "right_eye",
+    "left",
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+   "held_out_px_before": 5.417,
+   "inliers": 3412,
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+    9.55
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+   "position_split_mm": 5.751,
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+    0.8444,
+    -2.2247
+   ],
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+   "usable": true
+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+    -0.4253
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+  },
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+    "left_eye",
+    "left",
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+    -0.9175
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+  },
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+    "left_eye",
+    "right_eye",
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+    "right"
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+   ],
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+ },
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+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
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+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
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+  },
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+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "2c04e020048d2712",
+ "kind": "online_calibration",
+ "output_sha256": "29f60ca97959852bbef5a6069592c9b7233d939a32a36b1356d3643cf3387233",
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+  "left_front-left_eye": 0.72,
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+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
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+  "left_eye": 39.096,
+  "left_front": 43.343,
+  "right": 38.643,
+  "right_eye": 41.058,
+  "right_front": 41.269
+ },
+ "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/P14/session_012/cameras/slam.npz b/actions/locomotion_primitives/P14/session_012/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9dbc533328ecf245aa1e5926e64058c2e0d2c00c
--- /dev/null
+++ b/actions/locomotion_primitives/P14/session_012/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:061cf419feb3a49d757027c1419a898576107c4d4f374d7354a7302540d7cd90
+size 798761
diff --git a/actions/locomotion_primitives/P14/session_012/meta.json b/actions/locomotion_primitives/P14/session_012/meta.json
index 91b3e48b20e8a57121ea42b21854444624316a5d..4760c7b1d3c5de68a5c11f03ced1ab1738fc37a5 100644
--- a/actions/locomotion_primitives/P14/session_012/meta.json
+++ b/actions/locomotion_primitives/P14/session_012/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": {
@@ -515,10 +515,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.5993819045043465
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     0.581,
+     -0.332,
+     0.0684
+    ],
+    "dev_deg": {
+     "median": 10.17,
+     "p90": 21.53
+    },
+    "samples": 3121,
+    "accepted": 2982,
+    "wrist_pos_err_mm_median": 67.1,
+    "per_camera": {
+     "head": {
+      "samples": 3121,
+      "accepted": 2982,
+      "gate_deg": 30.0,
+      "offset_deg": 38.54,
+      "tier": "primary",
+      "dev_deg_median": 10.17,
+      "wrist_pos_err_mm_median": 67.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12246,
+     "interpolated": 4218,
+     "mean_hand": 212,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9868,
+    "observed_fraction_of_valid": 0.9873,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 35.18,
+     "smplx": 0.39
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 4.9,
+      "p90": 6.2
+     },
+     "registered": {
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+      "p90": 6.5
+     }
+    }
+   },
+   "right": {
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+    "offset_rotvec": [
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+     0.2359,
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+    "dev_deg": {
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+     "p90": 30.17
+    },
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+    "accepted": 2607,
+    "wrist_pos_err_mm_median": 190.5,
+    "per_camera": {
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+      "accepted": 2607,
+      "gate_deg": 30.0,
+      "offset_deg": 34.21,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 190.5
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 5828,
+     "mean_hand": 5,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9992,
+    "observed_fraction_of_valid": 0.9997,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.37
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.5,
+      "p90": 7.2
+     },
+     "registered": {
+      "median": 6.2,
+      "p90": 9.6
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:22:29.048877+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/P14/session_012",
   "family": "locomotion_primitives",
   "primitive": "P14",
   "source_session": "20260930/P14/20260930_072515_session74"
+ },
+ "task": {
+  "primitive": "P14",
+  "instruction": "Move laterally left/right for ~3 m; natural controlled steps; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P14/session_012/motions/hands_mano.npz b/actions/locomotion_primitives/P14/session_012/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0eb839d7cbbabcdc903bfd0c3c8fbfd254871d4f
--- /dev/null
+++ b/actions/locomotion_primitives/P14/session_012/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e2fcfecb57e1e0db5cbf64f26dd195cbebb967a7f149b26dfadae74c747b54d
+size 4159306
diff --git a/actions/locomotion_primitives/P14/session_012/motions/smplx.npz b/actions/locomotion_primitives/P14/session_012/motions/smplx.npz
index bd2075e0c1773fce920bc510ffd307eaefde6642..d9c67ff8960a9016f9ce77e09e5ba5f1559aee81 100644
--- a/actions/locomotion_primitives/P14/session_012/motions/smplx.npz
+++ b/actions/locomotion_primitives/P14/session_012/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c0735af3e9a0674b616cac9367aec927c69a3446f9f17a82c43cfb9d8bc9399a
-size 6372391
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diff --git a/actions/locomotion_primitives/P14/session_013/annotations.json b/actions/locomotion_primitives/P14/session_013/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..51b500c4f1b0e16e3419493a35e666a2fc43cf76
--- /dev/null
+++ b/actions/locomotion_primitives/P14/session_013/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": "P14",
+ "instruction": "Move laterally left/right for ~3 m; natural controlled steps; stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 53.966633,
+   "video": "left_eye",
+   "video_t_start": 0.03912221815128314
+  }
+ ],
+ "episodes": [
+  {
+   "id": "4e6ba60f-a5dd-4f74-bf53-999e25ac116a",
+   "segment": "segment1",
+   "action": "P14",
+   "quality": "valid",
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+   "end_s": 5.036,
+   "t_start": 1.0391,
+   "t_end": 5.0751,
+   "instruction": "Move laterally left/right for ~3 m; natural controlled steps; stop."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P14",
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+   "instruction": "Move laterally left/right for ~3 m; natural controlled steps; stop."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P14",
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+   "instruction": "Move laterally left/right for ~3 m; natural controlled steps; stop."
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+}
diff --git a/actions/locomotion_primitives/P14/session_013/cameras/slam.npz b/actions/locomotion_primitives/P14/session_013/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..718c2ce774c71c83a268fc128926362d07d6c18c
--- /dev/null
+++ b/actions/locomotion_primitives/P14/session_013/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:155e5a444ea5b87b4096c900dbefea44b322983f8a1df4b84ff87343079dd837
+size 312787
diff --git a/actions/locomotion_primitives/P14/session_013/meta.json b/actions/locomotion_primitives/P14/session_013/meta.json
index bdf80a6901f66c68213160705a7bb382856b739e..f2ec96f86452e21685ceb35138a9c01727ed9e3b 100644
--- a/actions/locomotion_primitives/P14/session_013/meta.json
+++ b/actions/locomotion_primitives/P14/session_013/meta.json
@@ -363,8 +363,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -509,10 +509,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
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+      "tier": "primary",
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+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
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+ },
  "release": {
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   "family": "locomotion_primitives",
   "primitive": "P14",
   "source_session": "20261013/P14/20261013_075224_session126"
+ },
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+  "instruction": "Move laterally left/right for ~3 m; natural controlled steps; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P14/session_013/motions/hands_mano.npz b/actions/locomotion_primitives/P14/session_013/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0a112b36b5bb98c5445e3017e969de1a05fd40e2
--- /dev/null
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diff --git a/actions/locomotion_primitives/P14/session_013/motions/smplx.npz b/actions/locomotion_primitives/P14/session_013/motions/smplx.npz
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--- a/actions/locomotion_primitives/P14/session_013/motions/smplx.npz
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-size 2495503
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--- /dev/null
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+}
diff --git a/actions/locomotion_primitives/P14/session_014/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P14/session_014/cameras/gsi_online_calibration.json
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index 0000000000000000000000000000000000000000..8b8d154b9c960f003516d8238c273df1c6df5848
--- /dev/null
+++ b/actions/locomotion_primitives/P14/session_014/cameras/gsi_online_calibration.json
@@ -0,0 +1,261 @@
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+  },
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+  }
+ },
+ "input_fingerprint": "b79d0ff8737e8ecb",
+ "kind": "online_calibration",
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+  "left_front-right_eye": 0.72,
+  "left_front-right_front": 1.0,
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+  "right_front-right_eye": 0.74
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+  "left_front": 37.79,
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+  "right_eye": 34.248,
+  "right_front": 34.628
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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/P14/session_014/cameras/slam.npz b/actions/locomotion_primitives/P14/session_014/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3fb71133139a14e95d74d840f14361f4e2a8f74e
--- /dev/null
+++ b/actions/locomotion_primitives/P14/session_014/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:879dcd08fcc4cb56d219d7eda71b55787e7e950bda4708c2d2797f710fa038d3
+size 702228
diff --git a/actions/locomotion_primitives/P14/session_014/meta.json b/actions/locomotion_primitives/P14/session_014/meta.json
index 6c241bdc2585d556659daa0eb4b5d6619227a51e..9e655aac8f161b4dc2a7d6961e2ed8b8a7bb66ac 100644
--- a/actions/locomotion_primitives/P14/session_014/meta.json
+++ b/actions/locomotion_primitives/P14/session_014/meta.json
@@ -379,8 +379,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -520,10 +520,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+     0.1903,
+     0.0969
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+     "p90": 32.9
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+    "accepted": 3084,
+    "wrist_pos_err_mm_median": 23.4,
+    "per_camera": {
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+     "interpolated": 1682,
+     "mean_hand": 493,
+     "no_body_fit": 0
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+    "palm_axis_vs_markers_deg": {
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+     }
+    }
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:39:27.659210+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": "P14",
   "source_session": "20261017/P14/20261017_112813_session154"
+ },
+ "task": {
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+  "instruction": "Move laterally left/right for ~3 m; natural controlled steps; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P14/session_014/motions/hands_mano.npz b/actions/locomotion_primitives/P14/session_014/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6a3ea2c085cbad1bac91ded17c53f068364cffa7
--- /dev/null
+++ b/actions/locomotion_primitives/P14/session_014/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f072b4e16d9d92e74ad169973fcddf5ca3bd0bb940df2d805e3237fe0d41893
+size 4597293
diff --git a/actions/locomotion_primitives/P14/session_014/motions/smplx.npz b/actions/locomotion_primitives/P14/session_014/motions/smplx.npz
index 10c1d355a8e01630c38f0319d7cd42a522fa5bdf..a8184a7c1186ffdf84f1ef787bad96efe082edc3 100644
--- a/actions/locomotion_primitives/P14/session_014/motions/smplx.npz
+++ b/actions/locomotion_primitives/P14/session_014/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ad4daba07ede9de56f6c1a4052a3585d5f341d8280cbef2f130c62178304a5d6
-size 5592281
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diff --git a/actions/locomotion_primitives/P14/session_015/annotations.json b/actions/locomotion_primitives/P14/session_015/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..626b36c38e469d9dda6c95b7d87ffade7736a197
--- /dev/null
+++ b/actions/locomotion_primitives/P14/session_015/annotations.json
@@ -0,0 +1,160 @@
+{
+ "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": "P14",
+ "instruction": "Move laterally left/right for ~3 m; natural controlled steps; stop.",
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+   "video": "left_eye",
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+  }
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+   "instruction": "Move laterally left/right for ~3 m; natural controlled steps; stop."
+  },
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+   "instruction": "Move laterally left/right for ~3 m; natural controlled steps; stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P14/session_015/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P14/session_015/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e20079263085a10018f2f8ca7fb59378290c778
--- /dev/null
+++ b/actions/locomotion_primitives/P14/session_015/cameras/gsi_online_calibration.json
@@ -0,0 +1,254 @@
+{
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+  "median_px": 0.392
+ },
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+    "left_eye",
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+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
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+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "f0e2cf41113612e51d867a98a88401f478a563eaf901066993f7b7c772496328",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "0431ee13904f7729",
+ "kind": "online_calibration",
+ "output_sha256": "bea65cbc9282f4176924a8fc4ccea3bf926e9c7ba522cf59fbf324cbac1a8491",
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+  "left_front-left": 0.506,
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+  "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": {
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+  "left_eye": 33.89,
+  "left_front": 32.056,
+  "right": 35.272,
+  "right_eye": 31.743,
+  "right_front": 30.915
+ },
+ "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/P14/session_015/cameras/slam.npz b/actions/locomotion_primitives/P14/session_015/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fdfe1597e9ae3079b63df357c696ac5c025b1b4e
--- /dev/null
+++ b/actions/locomotion_primitives/P14/session_015/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:572a2fc17ded086eebf02b4658334e40f074a4c7b4b0f1b1f58dd8900d4e23c0
+size 643114
diff --git a/actions/locomotion_primitives/P14/session_015/meta.json b/actions/locomotion_primitives/P14/session_015/meta.json
index bf7cd0d4b980d46eec47d87b7e684132a3f3245c..eb85b1bf9615b560de2ce80cfb7a26103d8ba30f 100644
--- a/actions/locomotion_primitives/P14/session_015/meta.json
+++ b/actions/locomotion_primitives/P14/session_015/meta.json
@@ -380,8 +380,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -521,10 +521,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 21.68,
+    "offset_rotvec": [
+     0.087,
+     -0.3126,
+     0.1948
+    ],
+    "dev_deg": {
+     "median": 12.32,
+     "p90": 21.71
+    },
+    "samples": 3181,
+    "accepted": 3065,
+    "wrist_pos_err_mm_median": 36.1,
+    "per_camera": {
+     "head": {
+      "samples": 3181,
+      "accepted": 3065,
+      "gate_deg": 30.0,
+      "offset_deg": 21.68,
+      "tier": "primary",
+      "dev_deg_median": 12.32,
+      "wrist_pos_err_mm_median": 36.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12361,
+     "interpolated": 1042,
+     "mean_hand": 9,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9987,
+    "observed_fraction_of_valid": 0.9993,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 18.52,
+     "smplx": 0.67
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.0,
+      "p90": 8.6
+     },
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+      "p90": 7.6
+     }
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+     "p90": 32.3
+    },
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+    "accepted": 2829,
+    "wrist_pos_err_mm_median": 64.6,
+    "per_camera": {
+     "head": {
+      "samples": 3190,
+      "accepted": 2829,
+      "gate_deg": 30.0,
+      "offset_deg": 12.04,
+      "tier": "primary",
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+     }
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+     "mean_hand": 429,
+     "no_body_fit": 8
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+    "observed_fraction_of_valid": 0.968,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.53
+    },
+    "hand_marker_to_mesh_mm": {
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+      "median": 9.9,
+      "p90": 15.4
+     },
+     "registered": {
+      "median": 8.7,
+      "p90": 13.6
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:23:28.866289+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/P14/session_015",
   "family": "locomotion_primitives",
   "primitive": "P14",
   "source_session": "20261019/P14/20261019_021619_session24"
+ },
+ "task": {
+  "primitive": "P14",
+  "instruction": "Move laterally left/right for ~3 m; natural controlled steps; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P14/session_015/motions/hands_mano.npz b/actions/locomotion_primitives/P14/session_015/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5ae234582c651a4536b8f2b5f71f6a49ab3b0ed8
--- /dev/null
+++ b/actions/locomotion_primitives/P14/session_015/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2eec3e8c869901a3241dd97e1c40d5c114d54029a30e27295bec0c67a11e8bf3
+size 4307266
diff --git a/actions/locomotion_primitives/P14/session_015/motions/smplx.npz b/actions/locomotion_primitives/P14/session_015/motions/smplx.npz
index 14d16526d93c215afb96f5af1e0e410cadf26adc..2e3a347b329ff2aff9ec0749e693b0bdbaaef0d8 100644
--- a/actions/locomotion_primitives/P14/session_015/motions/smplx.npz
+++ b/actions/locomotion_primitives/P14/session_015/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:bf197d96c4c445b7dd66eae7b3c8844fd29b8698570c138240ea6dcbea6d4ff3
-size 5134699
+oid sha256:1db536accb56242ec8105a2331e9dee6d49b5fd94e187d0e888d450e1d4264ae
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diff --git a/actions/locomotion_primitives/P15/session_001/annotations.json b/actions/locomotion_primitives/P15/session_001/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5feda86ea4ea1dc4a9551a5be7cb6fa1eb3ee78
--- /dev/null
+++ b/actions/locomotion_primitives/P15/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": "P15",
+ "instruction": "Walk forward while moving diagonally left/right; finish ~45° from start direction.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 93.966533,
+   "video": "left_eye",
+   "video_t_start": 0.03865014845526327
+  }
+ ],
+ "episodes": [
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+  },
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+  },
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P15/session_001/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P15/session_001/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..47a3f4f83622bbb127f18e533896b9f90320be8f
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_001/cameras/gsi_online_calibration.json
@@ -0,0 +1,262 @@
+{
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+    "median_px": 633.17,
+    "pair": [
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+ },
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+   "accepted": true,
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+    "right_front",
+    "left_eye",
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+   "rotvec_deg": [
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+    0.8511,
+    0.3068
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+   "usable": true
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+    "left_front",
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+    "right_eye",
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+    0.6818,
+    -0.7826
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+  },
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+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
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+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "b57b97471dda549d14453207633f71cb0f47da3db63434f8731070db6902aa8d",
+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "89ca57e55c826486de81ec631e273e90191eb5b95aa90f2d5a7b1f087663e867",
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+  },
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+  }
+ },
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+  "right_front-right_eye": 0.724
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+  "left_eye": 36.412,
+  "left_front": 41.097,
+  "right": 43.147,
+  "right_eye": 37.625,
+  "right_front": 44.016
+ },
+ "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/P15/session_001/cameras/slam.npz b/actions/locomotion_primitives/P15/session_001/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e30980f554254b0df49d35a977b915dce4d2b3da
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_001/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59702e1ae727b4315bd808364063cf6cde60945b9e7d4aac73ce1ada7b0003d3
+size 532985
diff --git a/actions/locomotion_primitives/P15/session_001/meta.json b/actions/locomotion_primitives/P15/session_001/meta.json
index b0e065dedb4b3bfd663b396acafef191d5fda2a7..4ecebe8ab5443e3d34319ba5ea7a6fa07969b218 100644
--- a/actions/locomotion_primitives/P15/session_001/meta.json
+++ b/actions/locomotion_primitives/P15/session_001/meta.json
@@ -346,8 +346,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -527,10 +527,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 17.57,
+    "offset_rotvec": [
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+     -0.2531,
+     -0.0774
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+     "median": 9.45,
+     "p90": 19.78
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+    "accepted": 2475,
+    "wrist_pos_err_mm_median": 86.8,
+    "per_camera": {
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+      "accepted": 2475,
+      "gate_deg": 30.0,
+      "offset_deg": 17.57,
+      "tier": "primary",
+      "dev_deg_median": 9.45,
+      "wrist_pos_err_mm_median": 86.8
+     }
+    },
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+     "interpolated": 1128,
+     "mean_hand": 124,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9883,
+    "observed_fraction_of_valid": 0.989,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.58,
+     "smplx": 0.43
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 6.5
+     },
+     "registered": {
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+      "p90": 7.3
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+     -0.0849,
+     0.1609
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+    "accepted": 2362,
+    "wrist_pos_err_mm_median": 62.2,
+    "per_camera": {
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+      "accepted": 2362,
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+      "offset_deg": 11.12,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 62.2
+     }
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+     "no_body_fit": 8
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+    "observed_fraction_of_valid": 0.989,
+    "palm_axis_vs_markers_deg": {
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+    },
+    "hand_marker_to_mesh_mm": {
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+      "median": 6.8,
+      "p90": 8.3
+     },
+     "registered": {
+      "median": 6.8,
+      "p90": 9.8
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:30:15.227023+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/P15/session_001",
   "family": "locomotion_primitives",
   "primitive": "P15",
   "source_session": "20260828/P15/20260828_063037_session23"
+ },
+ "task": {
+  "primitive": "P15",
+  "instruction": "Walk forward while moving diagonally left/right; finish ~45\u00b0 from start direction."
  }
 }
diff --git a/actions/locomotion_primitives/P15/session_001/motions/hands_mano.npz b/actions/locomotion_primitives/P15/session_001/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f235d8f9217cbab0a1c8c3901064f66a70b87ab2
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_001/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad1d4fc6bcab6c3f6c0498bf78f8c16294e1417fd7459ffc4a9cc858db2b42dd
+size 3371144
diff --git a/actions/locomotion_primitives/P15/session_001/motions/smplx.npz b/actions/locomotion_primitives/P15/session_001/motions/smplx.npz
index 6f32ff327651f7806f977c5d9db0eb3d8a8e7032..42734b5b1ddbc7a41de8cff5a9ed453e2342d49c 100644
--- a/actions/locomotion_primitives/P15/session_001/motions/smplx.npz
+++ b/actions/locomotion_primitives/P15/session_001/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d3fb5f8817c4642b4a6ff7f0881619a302000c83e5de160779664f374d3a4002
-size 4301056
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diff --git a/actions/locomotion_primitives/P15/session_002/annotations.json b/actions/locomotion_primitives/P15/session_002/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..17e6a189d22cc1f09b906a585fc7d2208adb7b50
--- /dev/null
+++ b/actions/locomotion_primitives/P15/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": "P15",
+ "instruction": "Walk forward while moving diagonally left/right; finish ~45° from start direction.",
+ "segments": [
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+   "video": "left_eye",
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+  }
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P15/session_002/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P15/session_002/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..797bc6ccf584790b620ddd82fedc88a1617588f3
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_002/cameras/gsi_online_calibration.json
@@ -0,0 +1,262 @@
+{
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+ },
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+    0.7877,
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+   "usable": true
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+  },
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+ "factory_root_name": "850a0e6aafa85fdf",
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+  },
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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"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "85df2e41fa0f238ab78cadcb311195bc6f58457ae0655971b59bcc797b20438a",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "f929a668965c76cf",
+ "kind": "online_calibration",
+ "output_sha256": "adce566a5ac457eff7ba91f78d582ceec68d874cb26d04e7dbcfebdadda63227",
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+  "left_eye": 32.458,
+  "left_front": 40.322,
+  "right": 40.923,
+  "right_eye": 33.558,
+  "right_front": 42.052
+ },
+ "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/P15/session_002/cameras/slam.npz b/actions/locomotion_primitives/P15/session_002/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..340bc4f06c4ce5ef0289e7b13ff7b9702b10fc69
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_002/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:687369f2eb5bff985705016a93870f980bbe4f9572a22507c371e1a19db3d14b
+size 538928
diff --git a/actions/locomotion_primitives/P15/session_002/meta.json b/actions/locomotion_primitives/P15/session_002/meta.json
index 7d5f46a16b71c034152437ee6c17c1942ebf449c..76ce517d7fc13d508639c57113232e274451d255 100644
--- a/actions/locomotion_primitives/P15/session_002/meta.json
+++ b/actions/locomotion_primitives/P15/session_002/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": 18.14,
+    "offset_rotvec": [
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+     -0.2821,
+     -0.0563
+    ],
+    "dev_deg": {
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+     "p90": 20.9
+    },
+    "samples": 2590,
+    "accepted": 2503,
+    "wrist_pos_err_mm_median": 61.8,
+    "per_camera": {
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+      "accepted": 2503,
+      "gate_deg": 30.0,
+      "offset_deg": 18.14,
+      "tier": "primary",
+      "dev_deg_median": 9.69,
+      "wrist_pos_err_mm_median": 61.8
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 1112,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9989,
+    "observed_fraction_of_valid": 0.9989,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 15.58,
+     "smplx": 0.52
+    },
+    "hand_marker_to_mesh_mm": {
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+      "median": 8.1,
+      "p90": 9.1
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+     }
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+     -0.0377,
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+    ],
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+     "p90": 21.54
+    },
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+    "accepted": 2331,
+    "wrist_pos_err_mm_median": 75.4,
+    "per_camera": {
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+      "accepted": 2331,
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+      "tier": "primary",
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+     "interpolated": 1678,
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+     "no_body_fit": 0
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+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.85
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 9.7
+     },
+     "registered": {
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+      "p90": 10.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:30:26.523006+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/P15/session_002",
   "family": "locomotion_primitives",
   "primitive": "P15",
   "source_session": "20260828/P15/20260828_063225_session24"
+ },
+ "task": {
+  "primitive": "P15",
+  "instruction": "Walk forward while moving diagonally left/right; finish ~45\u00b0 from start direction."
  }
 }
diff --git a/actions/locomotion_primitives/P15/session_002/motions/hands_mano.npz b/actions/locomotion_primitives/P15/session_002/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..96df0ac5604afe89e4d815bbbb2dbe2e4f6b8472
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_002/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e557b8546a9d5b306184f36b60069fc55db7201b7fffea077904fc56ade9e44e
+size 3378227
diff --git a/actions/locomotion_primitives/P15/session_002/motions/smplx.npz b/actions/locomotion_primitives/P15/session_002/motions/smplx.npz
index f0709c8fffa1e0da2b3c4b813c7521e26fa7bc9f..faefdf0396051c9e3e3421d57307abd5e60ff364 100644
--- a/actions/locomotion_primitives/P15/session_002/motions/smplx.npz
+++ b/actions/locomotion_primitives/P15/session_002/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:bccccc93766d728345985feb145be6e7a5f8064f86444d1a60388761d096f32d
-size 4306228
+oid sha256:8aa9e1171223c8c2296dd5020992d0f67a3f3446ca0015503e977c8153202a84
+size 8088565
diff --git a/actions/locomotion_primitives/P15/session_003/annotations.json b/actions/locomotion_primitives/P15/session_003/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..f139b9725341c3c79dfcabf30e42ab778cae6212
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_003/annotations.json
@@ -0,0 +1,149 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P15",
+ "instruction": "Walk forward while moving diagonally left/right; finish ~45° from start direction.",
+ "segments": [
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+   "video": "left_eye",
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+  }
+ ],
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+   "instruction": "Walk forward while moving diagonally left/right; finish ~45° from start direction."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P15/session_003/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P15/session_003/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..ded826ff1cdae8d1b9a36a43081360feb7db12fe
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_003/cameras/gsi_online_calibration.json
@@ -0,0 +1,266 @@
+{
+ "camera_fit": {
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+    "median_px": 18.1,
+    "pair": [
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+     "right"
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+ },
+ "cameras": {
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+   "against": [
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+    "left_eye",
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+    0.728,
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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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+  },
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new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_003/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/P15/session_003/meta.json b/actions/locomotion_primitives/P15/session_003/meta.json
index 102943a2ce89533b112d0ff3b6408ebc57a62ac4..eca9f6ca9c4249a20cda591b54904042ec1c94b1 100644
--- a/actions/locomotion_primitives/P15/session_003/meta.json
+++ b/actions/locomotion_primitives/P15/session_003/meta.json
@@ -361,8 +361,8 @@
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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": {
@@ -542,10 +542,124 @@
   "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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+ },
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   "family": "locomotion_primitives",
   "primitive": "P15",
   "source_session": "20260904/P15/20260904_023407_session14"
+ },
+ "task": {
+  "primitive": "P15",
+  "instruction": "Walk forward while moving diagonally left/right; finish ~45\u00b0 from start direction."
  }
 }
diff --git a/actions/locomotion_primitives/P15/session_003/motions/hands_mano.npz b/actions/locomotion_primitives/P15/session_003/motions/hands_mano.npz
new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_003/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+++ b/actions/locomotion_primitives/P15/session_003/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/P15/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": "P15",
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P15/session_004/cameras/slam.npz b/actions/locomotion_primitives/P15/session_004/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2cdd6293f10a742e9d5e6c505654bbad5790bd15
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_004/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 428644
diff --git a/actions/locomotion_primitives/P15/session_004/meta.json b/actions/locomotion_primitives/P15/session_004/meta.json
index 911fef4832d3c4873a31a3625daddd45efefaff7..8eac6b8c463be5d16d570a4692f52ede9ed9df3d 100644
--- a/actions/locomotion_primitives/P15/session_004/meta.json
+++ b/actions/locomotion_primitives/P15/session_004/meta.json
@@ -328,8 +328,8 @@
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   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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@@ -510,10 +510,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.181893477363416
  },
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+     0.2855
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+     "p90": 25.2
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+    "per_camera": {
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+      "tier": "primary",
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+    "palm_axis_vs_markers_deg": {
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+    },
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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": {
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   "family": "locomotion_primitives",
   "primitive": "P15",
   "source_session": "20260908/P15/20260908_054214_session35"
+ },
+ "task": {
+  "primitive": "P15",
+  "instruction": "Walk forward while moving diagonally left/right; finish ~45\u00b0 from start direction."
  }
 }
diff --git a/actions/locomotion_primitives/P15/session_004/motions/hands_mano.npz b/actions/locomotion_primitives/P15/session_004/motions/hands_mano.npz
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@@ -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": "P15",
+ "instruction": "Walk forward while moving diagonally left/right; finish ~45° from start direction.",
+ "segments": [
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+   "video": "left_eye",
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+  }
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+   "instruction": "Walk forward while moving diagonally left/right; finish ~45° from start direction."
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+   "instruction": "Walk forward while moving diagonally left/right; finish ~45° from start direction."
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+   "instruction": "Walk forward while moving diagonally left/right; finish ~45° from start direction."
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+   "instruction": "Walk forward while moving diagonally left/right; finish ~45° from start direction."
+  },
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+   "segment": "segment1",
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+   "instruction": "Walk forward while moving diagonally left/right; finish ~45° from start direction."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P15/session_005/cameras/slam.npz b/actions/locomotion_primitives/P15/session_005/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7446965e00ec1c88159dd09154274911c5f42a52
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_005/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f4eb01dfdafbc99e7b0e7c4789d8965a9816af5fc38d29400af0ff79dab6f05
+size 542864
diff --git a/actions/locomotion_primitives/P15/session_005/meta.json b/actions/locomotion_primitives/P15/session_005/meta.json
index 1b2c7e99282ae077973bb016e4cb67d26af0000f..eef18eee34d410da7515d63f6c7d6fe9aa477e01 100644
--- a/actions/locomotion_primitives/P15/session_005/meta.json
+++ b/actions/locomotion_primitives/P15/session_005/meta.json
@@ -326,8 +326,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -513,10 +513,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.9356611621339788
  },
+ "hands_registration": {
+  "cameras": {},
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+    "offset_rotvec": [
+     0.3615,
+     -0.3355,
+     -0.0674
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+     "median": 22.22,
+     "p90": 30.87
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+    "samples": 1722,
+    "accepted": 1474,
+    "wrist_pos_err_mm_median": 152.3,
+    "per_camera": {
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+      "accepted": 1474,
+      "gate_deg": 30.0,
+      "offset_deg": 28.52,
+      "tier": "primary",
+      "dev_deg_median": 22.22,
+      "wrist_pos_err_mm_median": 152.3
+     }
+    },
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+     "ace_sample": 6231,
+     "interpolated": 4844,
+     "mean_hand": 5,
+     "no_body_fit": 204
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+    "observed_fraction_of_valid": 0.9995,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.93,
+     "smplx": 0.52
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 12.2
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+     }
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+     0.3254,
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+    "accepted": 2169,
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+    "per_camera": {
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+      "offset_deg": 20.85,
+      "tier": "primary",
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+     }
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+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.4
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+     },
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+      "p90": 6.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T15:41:25.925700+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/P15/session_005",
   "family": "locomotion_primitives",
   "primitive": "P15",
   "source_session": "20260909/P15/20260909_035550_session62"
+ },
+ "task": {
+  "primitive": "P15",
+  "instruction": "Walk forward while moving diagonally left/right; finish ~45\u00b0 from start direction."
  }
 }
diff --git a/actions/locomotion_primitives/P15/session_005/motions/hands_mano.npz b/actions/locomotion_primitives/P15/session_005/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4af18be17b00cddf9c0877d0d54b12fbe05eecd8
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_005/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2df9abb935aa142917c7f1a8e2c0252d0937115b39f21c0822b3566131461c9f
+size 2785568
diff --git a/actions/locomotion_primitives/P15/session_005/motions/smplx.npz b/actions/locomotion_primitives/P15/session_005/motions/smplx.npz
index aa7fe4c45ce7872548010443361bfa9d6f309593..7c3db5bf537c768c1e8c5fb7425283a70f319062 100644
--- a/actions/locomotion_primitives/P15/session_005/motions/smplx.npz
+++ b/actions/locomotion_primitives/P15/session_005/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 4274311
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diff --git a/actions/locomotion_primitives/P15/session_006/annotations.json b/actions/locomotion_primitives/P15/session_006/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..85bbf351ed5c754a5d2b686b62cc932bcc335378
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_006/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": "P15",
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+ ]
+}
diff --git a/actions/locomotion_primitives/P15/session_006/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P15/session_006/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e89e5926e5f602aacd92bade54dfcc8f497fd7f
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_006/cameras/gsi_online_calibration.json
@@ -0,0 +1,257 @@
+{
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+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
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+   "held_out_px_before": 3.215,
+   "inliers": 3241,
+   "position_fitted": true,
+   "position_mm": [
+    3.88,
+    -11.66,
+    5.9
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+   "position_split_mm": 0.588,
+   "rotvec_deg": [
+    0.3513,
+    -0.5058,
+    -0.3414
+   ],
+   "split_deg": 0.0196,
+   "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": 4.376,
+   "inliers": 4869,
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+    -0.3784,
+    -0.0954,
+    -1.2984
+   ],
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+   "usable": true
+  }
+ },
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+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
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+   "sha256": "ae31f1522c1366c9f7fea64a5196542e9d27723477182bd68d9ff1f7b5bbb9a1",
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+  },
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+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
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+  },
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+  }
+ },
+ "input_fingerprint": "0b48cd5f76a65421",
+ "kind": "online_calibration",
+ "output_sha256": "c3415a3f8c84cb8599b73d211bebb5f15ed35dd944ce81b56bd308186da9cea8",
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+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
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+  "left_eye": 32.668,
+  "left_front": 34.78,
+  "right": 39.799,
+  "right_eye": 31.903,
+  "right_front": 35.222
+ },
+ "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/P15/session_006/cameras/slam.npz b/actions/locomotion_primitives/P15/session_006/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5cefa28315857ea121238b2ddbcf369835a70471
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_006/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08b1f2fb8f902c37fe13702d5cd2b94aeb3f6209a6273938f765ce69429c5beb
+size 859127
diff --git a/actions/locomotion_primitives/P15/session_006/meta.json b/actions/locomotion_primitives/P15/session_006/meta.json
index c1eeffc60d5da157b5969b7e2a48ead7a9ebad80..3ad443ea3a5cadda201ec9ad5d8dc5ec535d1f95 100644
--- a/actions/locomotion_primitives/P15/session_006/meta.json
+++ b/actions/locomotion_primitives/P15/session_006/meta.json
@@ -278,8 +278,8 @@
   "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": {
@@ -469,10 +469,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.0313915315847835
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
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+     0.0669,
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+    ],
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+     "p90": 31.05
+    },
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+    "accepted": 2647,
+    "wrist_pos_err_mm_median": 52.4,
+    "per_camera": {
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+      "accepted": 2647,
+      "gate_deg": 30.0,
+      "offset_deg": 7.88,
+      "tier": "primary",
+      "dev_deg_median": 12.23,
+      "wrist_pos_err_mm_median": 52.4
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 6132,
+     "mean_hand": 869,
+     "no_body_fit": 8
+    },
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+    "observed_fraction_of_valid": 0.9514,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.68,
+     "smplx": 0.66
+    },
+    "hand_marker_to_mesh_mm": {
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+     }
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+     "p90": 50.51
+    },
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+    "accepted": 1682,
+    "wrist_pos_err_mm_median": 74.7,
+    "per_camera": {
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+      "accepted": 1682,
+      "gate_deg": 30.0,
+      "offset_deg": 13.49,
+      "tier": "primary",
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+     }
+    },
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+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.96
+    },
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+      "p90": 6.0
+     },
+     "registered": {
+      "median": 5.9,
+      "p90": 7.2
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T19:18:35.940416+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/P15/session_006",
   "family": "locomotion_primitives",
   "primitive": "P15",
   "source_session": "20260914/P15/20260914_095902_session2"
+ },
+ "task": {
+  "primitive": "P15",
+  "instruction": "Walk forward while moving diagonally left/right; finish ~45\u00b0 from start direction."
  }
 }
diff --git a/actions/locomotion_primitives/P15/session_006/motions/hands_mano.npz b/actions/locomotion_primitives/P15/session_006/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1802c362e23262c04cb9108b737e9cd7056eb602
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_006/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83a1db9da188c880bd7e6f86a11e265d8441e640a06f6d1330d9f26263d442e4
+size 3659091
diff --git a/actions/locomotion_primitives/P15/session_006/motions/smplx.npz b/actions/locomotion_primitives/P15/session_006/motions/smplx.npz
index e265206943c57d55d5ae6cc3ccdc7599ac4826e0..e715f2674e8abe04d63f383ea6524083a3a5096e 100644
--- a/actions/locomotion_primitives/P15/session_006/motions/smplx.npz
+++ b/actions/locomotion_primitives/P15/session_006/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0072314f30ae1c63260acd4f5ef2dbe444add07f07e277bc878185474f4ffb8d
-size 6812752
+oid sha256:e34afe5c012363496c5d258dc4cb244d6828250eacebed8d7be5a3c7dc3d7563
+size 12066978
diff --git a/actions/locomotion_primitives/P15/session_007/annotations.json b/actions/locomotion_primitives/P15/session_007/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..997d094d6d0935ac0380563cf5c867cd7a12b887
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_007/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": "P15",
+ "instruction": "Walk forward while moving diagonally left/right; finish ~45° from start direction.",
+ "segments": [
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+   "video": "left_eye",
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+  }
+ ],
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P15/session_007/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P15/session_007/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..f51af7eb0d67260eea1ab39d305e4a1eb11af0cb
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_007/cameras/gsi_online_calibration.json
@@ -0,0 +1,255 @@
+{
+ "camera_fit": {
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+  "groups_used": 14,
+  "median_px": 0.354
+ },
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+   "against": [
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+    "left_eye",
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+    -0.509,
+    -0.463
+   ],
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+   "usable": true
+  },
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+   "against": [
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+    "right_eye",
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+ "factory_root_name": "e17c9efadb69e7b1",
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+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
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+  "left_front": 34.08,
+  "right": 40.523,
+  "right_eye": 27.867,
+  "right_front": 33.394
+ },
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+  "opencv": "5.0.0",
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+}
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diff --git a/actions/locomotion_primitives/P15/session_007/cameras/slam.npz b/actions/locomotion_primitives/P15/session_007/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7fd7dbdf8668635754e485577ed386b3c7d56985
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_007/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:587f90fd27a9aebd81ebe94b2847f0ffbadd934963bace14feb0e88d54836097
+size 570251
diff --git a/actions/locomotion_primitives/P15/session_007/meta.json b/actions/locomotion_primitives/P15/session_007/meta.json
index 0ade42a886acc64c0db40a3ef38aa4e3835e5c9e..6bb1de296356a65690b71f0cb3d7517c65cd3eb6 100644
--- a/actions/locomotion_primitives/P15/session_007/meta.json
+++ b/actions/locomotion_primitives/P15/session_007/meta.json
@@ -328,8 +328,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -518,10 +518,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.6658135841288639
  },
+ "hands_registration": {
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+     "p90": 32.82
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+    "accepted": 1882,
+    "wrist_pos_err_mm_median": 50.2,
+    "per_camera": {
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+      "accepted": 1882,
+      "gate_deg": 30.0,
+      "offset_deg": 20.28,
+      "tier": "primary",
+      "dev_deg_median": 15.18,
+      "wrist_pos_err_mm_median": 50.2
+     }
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+     "interpolated": 3990,
+     "mean_hand": 140,
+     "no_body_fit": 0
+    },
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+    "observed_fraction_of_valid": 0.9882,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.6
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+    "hand_marker_to_mesh_mm": {
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T23:05:40.850022+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/P15/session_007",
   "family": "locomotion_primitives",
   "primitive": "P15",
   "source_session": "20260916/P15/20260916_054057_session88"
+ },
+ "task": {
+  "primitive": "P15",
+  "instruction": "Walk forward while moving diagonally left/right; finish ~45\u00b0 from start direction."
  }
 }
diff --git a/actions/locomotion_primitives/P15/session_007/motions/hands_mano.npz b/actions/locomotion_primitives/P15/session_007/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fe837ebf24bbb328aa0cd3f37add5ae0e89daea6
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_007/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69266db7cd879aec6fba2978d75e9d0b2c96f3fa192eb27cac15adee98f6f5c0
+size 2481900
diff --git a/actions/locomotion_primitives/P15/session_007/motions/smplx.npz b/actions/locomotion_primitives/P15/session_007/motions/smplx.npz
index 8f5ac42e395e2f4a6b1737648cd66b097dae665d..4a52e714ff727267813d8b7ab285e7ae64718b6a 100644
--- a/actions/locomotion_primitives/P15/session_007/motions/smplx.npz
+++ b/actions/locomotion_primitives/P15/session_007/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:14b2f2ba2c63e50a1ee60b9a30504f956e75d9a93bb0cadfd9bed80b461a8fa5
-size 4559319
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diff --git a/actions/locomotion_primitives/P15/session_008/annotations.json b/actions/locomotion_primitives/P15/session_008/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..cadc39bb61c151a9aedefa38deb198a94d51350b
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_008/annotations.json
@@ -0,0 +1,149 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P15",
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+   "video": "left_eye",
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+  }
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P15/session_008/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P15/session_008/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..9244d9a1a6fd2cc077a04646fc8ee13219ca3356
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_008/cameras/gsi_online_calibration.json
@@ -0,0 +1,256 @@
+{
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+ },
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+ "factory_root_name": "e17c9efadb69e7b1",
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+  "right_front-right_eye": 0.734
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+  "right": 41.583,
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+  "right_front": 37.542
+ },
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+  "opencv": "5.0.0",
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+ },
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+ "selection": {
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P15/session_008/cameras/slam.npz b/actions/locomotion_primitives/P15/session_008/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a7d20835bebad8d93c6e6ef30a40792e1d482020
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_008/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:052e82ae4c41f2a0ffe8026a9e3a12d26efaf86d99d0698652eaa4e63eff8325
+size 571889
diff --git a/actions/locomotion_primitives/P15/session_008/meta.json b/actions/locomotion_primitives/P15/session_008/meta.json
index a4af8ec818bbd8bd477ffdbfe5e9fa5409bcb5b7..b9e8df912ba96c1b9b4729774637106ee3422d04 100644
--- a/actions/locomotion_primitives/P15/session_008/meta.json
+++ b/actions/locomotion_primitives/P15/session_008/meta.json
@@ -328,8 +328,8 @@
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   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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     "left": {
@@ -509,10 +509,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.5400026913778307
  },
+ "hands_registration": {
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+      "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": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:56:01.975321+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": "P15",
   "source_session": "20260919/P15/20260919_012817_session10"
+ },
+ "task": {
+  "primitive": "P15",
+  "instruction": "Walk forward while moving diagonally left/right; finish ~45\u00b0 from start direction."
  }
 }
diff --git a/actions/locomotion_primitives/P15/session_008/motions/hands_mano.npz b/actions/locomotion_primitives/P15/session_008/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..06f1870e91635600ec5a2e4d9b1012a5376da57a
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_008/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed6fdb3105b31d7dbb34fee63e2b185c554920ce98c645bc3724f4210a18ae5a
+size 3090770
diff --git a/actions/locomotion_primitives/P15/session_008/motions/smplx.npz b/actions/locomotion_primitives/P15/session_008/motions/smplx.npz
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--- a/actions/locomotion_primitives/P15/session_008/motions/smplx.npz
+++ b/actions/locomotion_primitives/P15/session_008/motions/smplx.npz
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-size 4548401
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new file mode 100644
index 0000000000000000000000000000000000000000..75b8e385437dd8e77d0a48d4336bf7ef88bf068c
--- /dev/null
+++ b/actions/locomotion_primitives/P15/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": "P15",
+ "instruction": "Walk forward while moving diagonally left/right; finish ~45° from start direction.",
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+   "video": "left_eye",
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+  }
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P15/session_009/cameras/slam.npz b/actions/locomotion_primitives/P15/session_009/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..41208215972bbc590318bb055603d33177a13729
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_009/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c1423985fbbdc15561870860a58c0757fa90a2b4041c4a18b15378c6132a33c
+size 486885
diff --git a/actions/locomotion_primitives/P15/session_009/meta.json b/actions/locomotion_primitives/P15/session_009/meta.json
index e726862d060d3bd71f3f0c605f757f8eecf755c5..e1faaa2ec83d83bc4e0e025df63fd8e390ffb399 100644
--- a/actions/locomotion_primitives/P15/session_009/meta.json
+++ b/actions/locomotion_primitives/P15/session_009/meta.json
@@ -325,8 +325,8 @@
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   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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@@ -511,10 +511,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.8105722300485844
  },
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+    "offset_rotvec": [
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+     "p90": 41.53
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+    "accepted": 727,
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+    "per_camera": {
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+      "tier": "primary",
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+     }
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+    "palm_axis_vs_markers_deg": {
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+     "no_body_fit": 8
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+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.56
+    },
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+     },
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+     }
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:55:59.792209+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/P15/session_009",
   "family": "locomotion_primitives",
   "primitive": "P15",
   "source_session": "20260919/P15/20260919_080124_session128"
+ },
+ "task": {
+  "primitive": "P15",
+  "instruction": "Walk forward while moving diagonally left/right; finish ~45\u00b0 from start direction."
  }
 }
diff --git a/actions/locomotion_primitives/P15/session_009/motions/hands_mano.npz b/actions/locomotion_primitives/P15/session_009/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..591bc209eb29abea6c3a5e4e37afcb559d03491c
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_009/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a82f37baca05150d8392bbdd434048e37a61fc5e2879c7f7515c943ead54e7d5
+size 1616839
diff --git a/actions/locomotion_primitives/P15/session_009/motions/smplx.npz b/actions/locomotion_primitives/P15/session_009/motions/smplx.npz
index 98fe4cbf8deb5a28e21e2a2e6c0cec32e65e2fa9..83e936b7c6b44b8efe615cebb5bd112f615bd94c 100644
--- a/actions/locomotion_primitives/P15/session_009/motions/smplx.npz
+++ b/actions/locomotion_primitives/P15/session_009/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:bcae370e0b36bc4f7a8b0c99b5f7592feadee08598f55ee4ec27202ed7f1be8b
-size 3860483
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diff --git a/actions/locomotion_primitives/P15/session_010/annotations.json b/actions/locomotion_primitives/P15/session_010/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..102f8c96f34f6ac3bea73b957a45d6fd07d97233
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_010/annotations.json
@@ -0,0 +1,149 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P15",
+ "instruction": "Walk forward while moving diagonally left/right; finish ~45° from start direction.",
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+  }
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+   "instruction": "Walk forward while moving diagonally left/right; finish ~45° from start direction."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P15/session_010/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P15/session_010/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f0df67e37400c7df4cf83402501414679deee5d
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_010/cameras/gsi_online_calibration.json
@@ -0,0 +1,254 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.389
+ },
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+   "accepted": true,
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+    "right_front",
+    "left_eye",
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+   "usable": true
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+    "left_front",
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+    "left",
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+    0.8048,
+    -2.2991
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+    "left_eye",
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+    7.41
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+   "split_deg": 0.075,
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+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+    -0.0401,
+    -1.9775
+   ],
+   "split_deg": 0.0221,
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+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
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+   "sha256": "714687d764be90deec1ddf63abb6cfc3346cbe29be52fe45482f436e6ac38f57",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
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+  },
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+  }
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+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
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+  "right": 39.684,
+  "right_eye": 31.875,
+  "right_front": 33.525
+ },
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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/P15/session_010/cameras/slam.npz b/actions/locomotion_primitives/P15/session_010/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2088be277886d2a777a270f11ce629e59c582bbb
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_010/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0f51563ed31b96d95c9e26b9d98549bec6081d6b2a9054f35c72ebb725c1ac9
+size 742349
diff --git a/actions/locomotion_primitives/P15/session_010/meta.json b/actions/locomotion_primitives/P15/session_010/meta.json
index bcbc5adc32c4066e4bec2d6fb6a166cee72f19da..4d05b45a832c12ce1b72e575204420906323cd59 100644
--- a/actions/locomotion_primitives/P15/session_010/meta.json
+++ b/actions/locomotion_primitives/P15/session_010/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": {
@@ -522,10 +522,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.9496455260700032
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+     "median": 15.29,
+     "p90": 32.47
+    },
+    "samples": 3276,
+    "accepted": 2851,
+    "wrist_pos_err_mm_median": 77.9,
+    "per_camera": {
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+      "accepted": 2851,
+      "gate_deg": 30.0,
+      "offset_deg": 35.37,
+      "tier": "primary",
+      "dev_deg_median": 15.29,
+      "wrist_pos_err_mm_median": 77.9
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 3284,
+     "mean_hand": 529,
+     "no_body_fit": 8
+    },
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+    "observed_fraction_of_valid": 0.9658,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 39.98,
+     "smplx": 0.51
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.3,
+      "p90": 6.8
+     },
+     "registered": {
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+      "p90": 6.8
+     }
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+     0.1441,
+     0.0822
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+     "p90": 45.92
+    },
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+    "accepted": 2292,
+    "wrist_pos_err_mm_median": 71.9,
+    "per_camera": {
+     "head": {
+      "samples": 3172,
+      "accepted": 2292,
+      "gate_deg": 30.0,
+      "offset_deg": 16.15,
+      "tier": "primary",
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+    },
+    "hand_marker_to_mesh_mm": {
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+     },
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+     }
+    }
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:26:00.991094+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/P15/session_010",
   "family": "locomotion_primitives",
   "primitive": "P15",
   "source_session": "20260929/P15/20260929_024933_session50"
+ },
+ "task": {
+  "primitive": "P15",
+  "instruction": "Walk forward while moving diagonally left/right; finish ~45\u00b0 from start direction."
  }
 }
diff --git a/actions/locomotion_primitives/P15/session_010/motions/hands_mano.npz b/actions/locomotion_primitives/P15/session_010/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9200556893c2a72fd87c96bc5dadc87d03990cc6
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_010/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef01263b4fb6036ec67f0244ed179697ddf201225aa8716478674673347df948
+size 4354869
diff --git a/actions/locomotion_primitives/P15/session_010/motions/smplx.npz b/actions/locomotion_primitives/P15/session_010/motions/smplx.npz
index 705b366e27a6cce105fe311d032d931d3d7edad1..268124ef680a0c9d5664b1dc856dc2c492ebd9c1 100644
--- a/actions/locomotion_primitives/P15/session_010/motions/smplx.npz
+++ b/actions/locomotion_primitives/P15/session_010/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e62404f6f6cc9698bd08e887428e74e5b8e26a4da19b403d9807ad271e2b5a01
-size 5930855
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+size 10781683
diff --git a/actions/locomotion_primitives/P15/session_011/annotations.json b/actions/locomotion_primitives/P15/session_011/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c7f7e8f30d19a7c86aeb203630e627bf294c0cd
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_011/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": "P15",
+ "instruction": "Walk forward while moving diagonally left/right; finish ~45° from start direction.",
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P15/session_011/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P15/session_011/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..72f7665ab2b480afd651bc86daba329942d8c68a
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_011/cameras/gsi_online_calibration.json
@@ -0,0 +1,258 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.363
+ },
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+   "accepted": true,
+   "against": [
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+    "right_eye",
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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": {
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+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "d558b9afec1ee2364304b9c36babb647b626226cbdf31d584a3adc72607e7ce6",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
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+  }
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+ "input_fingerprint": "20800a9841c25ab6",
+ "kind": "online_calibration",
+ "output_sha256": "db63e396d0685a0ea37197983b01f3cd0686cbc5d93d8bd092f14e2fa769b77d",
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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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+  "right": 39.624,
+  "right_eye": 30.965,
+  "right_front": 33.447
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+ "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/P15/session_011/cameras/slam.npz b/actions/locomotion_primitives/P15/session_011/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ab0d268331101390f71241fc2097ee17b67d636d
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_011/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:371ee49caef3fed9f5b5e265a5a50f6cbf2d15bc4e682ef38d6f04e148440299
+size 940461
diff --git a/actions/locomotion_primitives/P15/session_011/meta.json b/actions/locomotion_primitives/P15/session_011/meta.json
index 13d152e4f672e1f18dce50b3c7ebbebac1b1c5bc..6b2bc4cd29425d2c62feb5addaee72f8f6e8fa6d 100644
--- a/actions/locomotion_primitives/P15/session_011/meta.json
+++ b/actions/locomotion_primitives/P15/session_011/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": {
@@ -506,10 +506,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.6584340130114028
  },
+ "hands_registration": {
+  "cameras": {},
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+     "p90": 25.05
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+    "accepted": 4103,
+    "wrist_pos_err_mm_median": 55.2,
+    "per_camera": {
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+      "tier": "primary",
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+     "no_body_fit": 113
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+    "per_camera": {
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+      "accepted": 3478,
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+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 46.0
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+     "mean_hand": 143,
+     "no_body_fit": 113
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   "family": "locomotion_primitives",
   "primitive": "P15",
   "source_session": "20260929/P15/20260929_105708_session207"
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+  "primitive": "P15",
+  "instruction": "Walk forward while moving diagonally left/right; finish ~45\u00b0 from start direction."
  }
 }
diff --git a/actions/locomotion_primitives/P15/session_011/motions/hands_mano.npz b/actions/locomotion_primitives/P15/session_011/motions/hands_mano.npz
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diff --git a/actions/locomotion_primitives/P15/session_012/cameras/slam.npz b/actions/locomotion_primitives/P15/session_012/cameras/slam.npz
new file mode 100644
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/actions/locomotion_primitives/P15/session_012/meta.json b/actions/locomotion_primitives/P15/session_012/meta.json
index 0f727896e4de0a6eaf01f70510bc866fcf95ebfc..4af89b70c089b472de346f2c6317dd08d6cdcffb 100644
--- a/actions/locomotion_primitives/P15/session_012/meta.json
+++ b/actions/locomotion_primitives/P15/session_012/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)",
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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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@@ -506,10 +506,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.4963011949602412
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   "family": "locomotion_primitives",
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  }
 }
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diff --git a/actions/locomotion_primitives/P15/session_013/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P15/session_013/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..4536c941030c37f1926d0333b7f884e2d7234280
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+    "right_front",
+    "left_eye",
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+  },
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+    "right_front",
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+    "left",
+    "right"
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+    -0.3069,
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+   "usable": true
+  },
+  "right_front": {
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+   "against": [
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+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+    -0.0813,
+    -2.0484
+   ],
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+   "usable": true
+  }
+ },
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+ "factory_root_name": "e17c9efadb69e7b1",
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+  },
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+  },
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+  }
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+ "kind": "online_calibration",
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+  "left_front-right_front": 1.0,
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+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
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+  "left_eye": 31.383,
+  "left_front": 42.816,
+  "right": 36.461,
+  "right_eye": 31.555,
+  "right_front": 38.412
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P15/session_013/cameras/slam.npz b/actions/locomotion_primitives/P15/session_013/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1a415226642c704492dc36f27d81c2e36c835bda
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_013/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:651221585dab34de0c253d7bbbea25f6ce1e42adacbaf96aa016a63d58015bd1
+size 769934
diff --git a/actions/locomotion_primitives/P15/session_013/meta.json b/actions/locomotion_primitives/P15/session_013/meta.json
index f2ce9ffffd049d86800807649d6d20b6b60a0ec4..6f15e50dda15c9179280e063f3f986bba22a67b7 100644
--- a/actions/locomotion_primitives/P15/session_013/meta.json
+++ b/actions/locomotion_primitives/P15/session_013/meta.json
@@ -341,8 +341,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -533,10 +533,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.4473061174880222
  },
+ "hands_registration": {
+  "cameras": {},
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+     "p90": 21.09
+    },
+    "samples": 2969,
+    "accepted": 2815,
+    "wrist_pos_err_mm_median": 49.6,
+    "per_camera": {
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+      "accepted": 2815,
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+      "offset_deg": 34.36,
+      "tier": "primary",
+      "dev_deg_median": 7.7,
+      "wrist_pos_err_mm_median": 49.6
+     }
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+     "interpolated": 4104,
+     "mean_hand": 412,
+     "no_body_fit": 8
+    },
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+    "observed_fraction_of_valid": 0.9744,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.55
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 8.6
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+     }
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+    "accepted": 2496,
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+    "per_camera": {
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+      "tier": "primary",
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+      "median": 6.6,
+      "p90": 8.2
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:22:29.308645+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/P15/session_013",
   "family": "locomotion_primitives",
   "primitive": "P15",
   "source_session": "20260930/P15/20260930_072807_session75"
+ },
+ "task": {
+  "primitive": "P15",
+  "instruction": "Walk forward while moving diagonally left/right; finish ~45\u00b0 from start direction."
  }
 }
diff --git a/actions/locomotion_primitives/P15/session_013/motions/hands_mano.npz b/actions/locomotion_primitives/P15/session_013/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8f0ddbd688939d5c1725cce288c94afb579b3c51
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_013/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b771c4ee3a9ac855e52514bc9856081f8a274973d280cf53e8f3626904681dc2
+size 3851582
diff --git a/actions/locomotion_primitives/P15/session_013/motions/smplx.npz b/actions/locomotion_primitives/P15/session_013/motions/smplx.npz
index 408114b48161b7f945b52d4914fe2732bb410f64..275888e0864249f54a18e4774d50b35be8374a41 100644
--- a/actions/locomotion_primitives/P15/session_013/motions/smplx.npz
+++ b/actions/locomotion_primitives/P15/session_013/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0c1fe7f27f26954b37a0d2407083bda16e825e1869546bbbb6c1e9c84f590e95
-size 6132308
+oid sha256:73130b64f14aa6fded57924ba7637e2162e0249c82f8b7e6fe59018263706024
+size 11439267
diff --git a/actions/locomotion_primitives/P15/session_014/annotations.json b/actions/locomotion_primitives/P15/session_014/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..795137ee4b3076e4eca433a09d0dc5fd789570d6
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_014/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": "P15",
+ "instruction": "Walk forward while moving diagonally left/right; finish ~45° from start direction.",
+ "segments": [
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+   "video": "left_eye",
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+  }
+ ],
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+ ]
+}
diff --git a/actions/locomotion_primitives/P15/session_014/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P15/session_014/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5382e44cae8c058e2dcf67392b2ead31cac0903
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_014/cameras/gsi_online_calibration.json
@@ -0,0 +1,257 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.371
+ },
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+ },
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+  "left_front": 36.188,
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+  "right_eye": 28.413,
+  "right_front": 35.466
+ },
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+  "opencv": "5.0.0",
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P15/session_014/cameras/slam.npz b/actions/locomotion_primitives/P15/session_014/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7700948b698a62d917c1b19735348d34dcbb3eb4
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_014/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c145e258f3884425a10b17c8e50ab847372ba13a4b95a15359d2ff7ec403d65
+size 740391
diff --git a/actions/locomotion_primitives/P15/session_014/meta.json b/actions/locomotion_primitives/P15/session_014/meta.json
index 2f29652c63c16bf5f7d093bcaee1370615d0c125..71a3b527627f18e6ed0d806c9aefca1fea80430a 100644
--- a/actions/locomotion_primitives/P15/session_014/meta.json
+++ b/actions/locomotion_primitives/P15/session_014/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": {
@@ -509,10 +509,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
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+     0.3887,
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+     -0.151
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+     "median": 9.38,
+     "p90": 19.43
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+    "accepted": 2988,
+    "wrist_pos_err_mm_median": 51.5,
+    "per_camera": {
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+      "accepted": 2988,
+      "gate_deg": 30.0,
+      "offset_deg": 34.32,
+      "tier": "primary",
+      "dev_deg_median": 9.38,
+      "wrist_pos_err_mm_median": 51.5
+     }
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+     "interpolated": 3176,
+     "mean_hand": 131,
+     "no_body_fit": 0
+    },
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+    "observed_fraction_of_valid": 0.9915,
+    "palm_axis_vs_markers_deg": {
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+    },
+    "hand_marker_to_mesh_mm": {
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+      "tier": "primary",
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+      "p90": 10.0
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+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:10:59.711625+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/P15/session_014",
   "family": "locomotion_primitives",
   "primitive": "P15",
   "source_session": "20261012/P15/20261012_045142_session73"
+ },
+ "task": {
+  "primitive": "P15",
+  "instruction": "Walk forward while moving diagonally left/right; finish ~45\u00b0 from start direction."
  }
 }
diff --git a/actions/locomotion_primitives/P15/session_014/motions/hands_mano.npz b/actions/locomotion_primitives/P15/session_014/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6b8a45d1c96aba7024c1866af9c8130a65a66294
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_014/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8eaebc175ab84b26427ce34b72a5700ccc5c8b28cbffea3310768a45fba9f96d
+size 3863065
diff --git a/actions/locomotion_primitives/P15/session_014/motions/smplx.npz b/actions/locomotion_primitives/P15/session_014/motions/smplx.npz
index a51c22141f3e1125f71b5e257a8d3e9a278ea97c..f33c4a5f667748759bed90c18371dd0bb07c5a43 100644
--- a/actions/locomotion_primitives/P15/session_014/motions/smplx.npz
+++ b/actions/locomotion_primitives/P15/session_014/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 5931307
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diff --git a/actions/locomotion_primitives/P15/session_015/annotations.json b/actions/locomotion_primitives/P15/session_015/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..502d4008e1c12c6416694f41fd42f02f502ce565
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_015/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": "P15",
+ "instruction": "Walk forward while moving diagonally left/right; finish ~45° from start direction.",
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+   "video": "left_eye",
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+  }
+ ],
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+  },
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P15/session_015/cameras/slam.npz b/actions/locomotion_primitives/P15/session_015/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2d0332a6545856d2269bfaac5f3d8668892c8e4a
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_015/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80f64a4c6c11de73f26149134a6c03cc9a3322d79a9ea46a8e63d1945e4954e4
+size 542486
diff --git a/actions/locomotion_primitives/P15/session_015/meta.json b/actions/locomotion_primitives/P15/session_015/meta.json
index 864811d56c2da06c45f4941b6a6701e447d7bfcd..7f0bfc5801ebb773c98fe40d790ede97e33e3984 100644
--- a/actions/locomotion_primitives/P15/session_015/meta.json
+++ b/actions/locomotion_primitives/P15/session_015/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": {
@@ -510,10 +510,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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+      "offset_deg": 20.51,
+      "tier": "primary",
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+     }
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+     "interpolated": 3526,
+     "mean_hand": 29,
+     "no_body_fit": 8
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+     "smplx": 0.32
+    },
+    "hand_marker_to_mesh_mm": {
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+     }
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+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.27
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+     },
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:07:43.859847+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/P15/session_015",
   "family": "locomotion_primitives",
   "primitive": "P15",
   "source_session": "20261013/P15/20261013_075350_session127"
+ },
+ "task": {
+  "primitive": "P15",
+  "instruction": "Walk forward while moving diagonally left/right; finish ~45\u00b0 from start direction."
  }
 }
diff --git a/actions/locomotion_primitives/P15/session_015/motions/hands_mano.npz b/actions/locomotion_primitives/P15/session_015/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7c537254cf101b7b85b776961d200699c15b123c
--- /dev/null
+++ b/actions/locomotion_primitives/P15/session_015/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea1f40ad26ca1142cb121c47847fb0ed8d66b24bc884154ce2239d4d82cf79ec
+size 2451977
diff --git a/actions/locomotion_primitives/P15/session_015/motions/smplx.npz b/actions/locomotion_primitives/P15/session_015/motions/smplx.npz
index 8c5d6e9b4963d8f66f0fcf4776e507ee47e54702..c60ff5d733a7714f1063893f54a3cd7b2c531542 100644
--- a/actions/locomotion_primitives/P15/session_015/motions/smplx.npz
+++ b/actions/locomotion_primitives/P15/session_015/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:cc6ff9baf08e1cd2fc1f796e2f205a1471ee5dd1c9c13d0536abc539c2aac62b
-size 4334351
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+size 8102023
diff --git a/actions/locomotion_primitives/P16/session_001/annotations.json b/actions/locomotion_primitives/P16/session_001/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..3572eac5f8e7381c6792a11f82f84194948238d0
--- /dev/null
+++ b/actions/locomotion_primitives/P16/session_001/annotations.json
@@ -0,0 +1,105 @@
+{
+ "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": "P16",
+ "instruction": "Walk backward slowly; stop.",
+ "segments": [
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+   "duration_s": 88.966511,
+   "video": "left_eye",
+   "video_t_start": 0.03864864423897796
+  }
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+   "instruction": "Walk backward slowly; stop."
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+   "action": "P16",
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+   "instruction": "Walk backward slowly; stop."
+  },
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+   "segment": "segment1",
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+   "end_s": 62.286,
+   "t_start": 55.1396,
+   "t_end": 62.3246,
+   "instruction": "Walk backward slowly; stop."
+  },
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+   "segment": "segment1",
+   "action": "P16",
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+   "t_end": 72.6616,
+   "instruction": "Walk backward slowly; stop."
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+  {
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+   "segment": "segment1",
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+   "end_s": 83.419,
+   "t_start": 76.3826,
+   "t_end": 83.4576,
+   "instruction": "Walk backward slowly; stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P16/session_001/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P16/session_001/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..af62b577933c4155c5b2f6b1815c1ee0e34ac21c
--- /dev/null
+++ b/actions/locomotion_primitives/P16/session_001/cameras/gsi_online_calibration.json
@@ -0,0 +1,262 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
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+    "median_px": 634.43,
+    "pair": [
+     "left",
+     "right"
+    ]
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+  "median_px": 0.363
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+   "held_out_px_before": 8.058,
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+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.1127,
+    0.7964,
+    0.5796
+   ],
+   "split_deg": 0.0562,
+   "usable": true
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
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+   "position_fitted": true,
+   "position_mm": [
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+    6.82,
+    13.19
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+   "position_split_mm": 4.55,
+   "rotvec_deg": [
+    0.0086,
+    0.6641,
+    -0.7869
+   ],
+   "split_deg": 0.1733,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+   "gate_fail": [],
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+   "position_fitted": false,
+   "rotvec_deg": [
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+   "split_deg": 0.0897,
+   "usable": true
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
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+   "inliers": 3068,
+   "position_fitted": true,
+   "position_mm": [
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+    6.08,
+    10.52
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+   "rotvec_deg": [
+    0.1419,
+    0.3582,
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+   ],
+   "split_deg": 0.1769,
+   "usable": true
+  },
+  "right_front": {
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+   "against": [
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+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+   "inliers": 3965,
+   "position_fitted": false,
+   "rotvec_deg": [
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+    0.5784,
+    -1.8071
+   ],
+   "split_deg": 0.0366,
+   "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": "d8a617900bfaae295da5d5dca715aeffaaf96ee5c0106ffaf00352761a17bb0e",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "2dc8b7fd28a8218cabf44815a5721171c0b6612b679d3c36fdbc7be03b8d1a69",
+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "8f4aa4ca370debd815ed9e6888cd220256c9aea092d38705a6f48eb04e270855",
+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "1e93d35c5f4a5345",
+ "kind": "online_calibration",
+ "output_sha256": "06252ce385a969bf9e2bf42d1c35b91014abe07329672acfe8285ad7b96bc202",
+ "overlap": {
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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_front": 40.176,
+  "right": 39.957,
+  "right_eye": 39.374,
+  "right_front": 41.731
+ },
+ "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/P16/session_001/cameras/slam.npz b/actions/locomotion_primitives/P16/session_001/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fb646a2e55f3385fd28a21dfb8d696c284cbb2e5
--- /dev/null
+++ b/actions/locomotion_primitives/P16/session_001/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed79bee13cfd7bfb58207a0d8a0b5ad995a12a4412872c5c8b355c072be8decc
+size 510857
diff --git a/actions/locomotion_primitives/P16/session_001/meta.json b/actions/locomotion_primitives/P16/session_001/meta.json
index 798e36fc62eaf240e82c5d5fce70291db5090a29..4e25c8748c5db9ad67a42c17cc095a483ae48b9a 100644
--- a/actions/locomotion_primitives/P16/session_001/meta.json
+++ b/actions/locomotion_primitives/P16/session_001/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": {
@@ -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": [
+     -0.2118,
+     -0.1747,
+     -0.0859
+    ],
+    "dev_deg": {
+     "median": 7.64,
+     "p90": 19.96
+    },
+    "samples": 2414,
+    "accepted": 2297,
+    "wrist_pos_err_mm_median": 63.5,
+    "per_camera": {
+     "head": {
+      "samples": 2414,
+      "accepted": 2297,
+      "gate_deg": 30.0,
+      "offset_deg": 16.48,
+      "tier": "primary",
+      "dev_deg_median": 7.64,
+      "wrist_pos_err_mm_median": 63.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9294,
+     "interpolated": 1130,
+     "mean_hand": 238,
+     "no_body_fit": 22
+    },
+    "observed_fraction": 0.9757,
+    "observed_fraction_of_valid": 0.9777,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.63,
+     "smplx": 0.67
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.2,
+      "p90": 7.7
+     },
+     "registered": {
+      "median": 8.0,
+      "p90": 9.4
+     }
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+   },
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+    "offset_rotvec": [
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+     -0.0816,
+     0.1396
+    ],
+    "dev_deg": {
+     "median": 5.08,
+     "p90": 20.63
+    },
+    "samples": 2294,
+    "accepted": 2173,
+    "wrist_pos_err_mm_median": 34.4,
+    "per_camera": {
+     "head": {
+      "samples": 2294,
+      "accepted": 2173,
+      "gate_deg": 30.0,
+      "offset_deg": 10.0,
+      "tier": "primary",
+      "dev_deg_median": 5.08,
+      "wrist_pos_err_mm_median": 34.4
+     }
+    },
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+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P16/session_001",
   "family": "locomotion_primitives",
   "primitive": "P16",
   "source_session": "20260828/P16/20260828_065634_session27"
+ },
+ "task": {
+  "primitive": "P16",
+  "instruction": "Walk backward slowly; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P16/session_001/motions/hands_mano.npz b/actions/locomotion_primitives/P16/session_001/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cc157d763b987e7fe27c136cadc1a5f4a107f347
--- /dev/null
+++ b/actions/locomotion_primitives/P16/session_001/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c737bd7fcde7a7f5236129481a3d402424b4abba7b808b1fd03d72f2124c980
+size 3193980
diff --git a/actions/locomotion_primitives/P16/session_001/motions/smplx.npz b/actions/locomotion_primitives/P16/session_001/motions/smplx.npz
index db1672c067e806ba4db9300ceaabf65bb6f17e7e..74c637fd32716f35c8dec2a02e6019480d411383 100644
--- a/actions/locomotion_primitives/P16/session_001/motions/smplx.npz
+++ b/actions/locomotion_primitives/P16/session_001/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 4080253
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diff --git a/actions/locomotion_primitives/P16/session_002/annotations.json b/actions/locomotion_primitives/P16/session_002/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..9203d1a973355ffc01486fd56e1d75c25345554c
--- /dev/null
+++ b/actions/locomotion_primitives/P16/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": "P16",
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P16/session_002/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P16/session_002/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7c3d3062d4257816f5824a1995ac22e53aba6f8
--- /dev/null
+++ b/actions/locomotion_primitives/P16/session_002/cameras/gsi_online_calibration.json
@@ -0,0 +1,268 @@
+{
+ "camera_fit": {
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+   {
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+     "left",
+     "right"
+    ]
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+  "median_px": 0.391
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
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+    "left_eye",
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+   "held_out_px_before": 7.494,
+   "inliers": 2566,
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+    0.7407,
+    0.3165
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+   "split_deg": 0.064,
+   "usable": true
+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
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+   "position_fitted": true,
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+    4.48,
+    10.82
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+    0.3481,
+    -0.6348
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+    0.5099,
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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": "5b4a00ca5007120f940976beebdb1553b976825fdb29d891be4d287ee8c77256",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "ba92e43888de2a95a28d36f25022f14937ad7493517030f44a62d93bd5e4622b",
+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
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+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
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+   "sha256": "bc691c10026fc1efd82b450de973c1c86a4a7074952296292f076c62d3b7205e",
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+  }
+ },
+ "input_fingerprint": "bb2103af1c26d534",
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+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
+ "picture_change": {
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+  "right_front": 42.756
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+ "runtime": {
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+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
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+ "selection": {
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+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P16/session_002/cameras/slam.npz b/actions/locomotion_primitives/P16/session_002/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c34177aa02ead8deca3dd745a98d44b83b0d6de6
--- /dev/null
+++ b/actions/locomotion_primitives/P16/session_002/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:449be67d0c998dcfcb80842c6a2df1425e8bfe913b22f45ef40dbba21d8d1cfe
+size 820475
diff --git a/actions/locomotion_primitives/P16/session_002/meta.json b/actions/locomotion_primitives/P16/session_002/meta.json
index 5eaa162ba4afae6d848de8a16724e7c5eddfe629..9ebdb188a6a2e1cd70012f1ddb40a14ce323e76e 100644
--- a/actions/locomotion_primitives/P16/session_002/meta.json
+++ b/actions/locomotion_primitives/P16/session_002/meta.json
@@ -359,8 +359,8 @@
   "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": {
@@ -540,10 +540,124 @@
   "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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+    "dev_deg": {
+     "median": 5.25,
+     "p90": 13.66
+    },
+    "samples": 3984,
+    "accepted": 3924,
+    "wrist_pos_err_mm_median": 60.7,
+    "per_camera": {
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+      "accepted": 3924,
+      "gate_deg": 30.0,
+      "offset_deg": 10.11,
+      "tier": "primary",
+      "dev_deg_median": 5.25,
+      "wrist_pos_err_mm_median": 60.7
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 1326,
+     "mean_hand": 124,
+     "no_body_fit": 13
+    },
+    "observed_fraction": 0.9921,
+    "observed_fraction_of_valid": 0.9928,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 7.22,
+     "smplx": 1.23
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 15.0
+     },
+     "registered": {
+      "median": 13.5,
+      "p90": 14.2
+     }
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+     0.1326
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+     "p90": 14.09
+    },
+    "samples": 3679,
+    "accepted": 3561,
+    "wrist_pos_err_mm_median": 27.3,
+    "per_camera": {
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+      "accepted": 3561,
+      "gate_deg": 30.0,
+      "offset_deg": 12.87,
+      "tier": "primary",
+      "dev_deg_median": 4.58,
+      "wrist_pos_err_mm_median": 27.3
+     }
+    },
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+     "interpolated": 2746,
+     "mean_hand": 124,
+     "no_body_fit": 13
+    },
+    "observed_fraction": 0.9921,
+    "observed_fraction_of_valid": 0.9928,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.85,
+     "smplx": 0.86
+    },
+    "hand_marker_to_mesh_mm": {
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+      "median": 10.3,
+      "p90": 12.2
+     },
+     "registered": {
+      "median": 10.1,
+      "p90": 12.0
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T13:49:37.131452+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",
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 }
diff --git a/actions/locomotion_primitives/P16/session_002/motions/hands_mano.npz b/actions/locomotion_primitives/P16/session_002/motions/hands_mano.npz
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index a1fd1b3a95b24ede158cf6fb47995b484c33b77b..60fc1431c613843424fe25e609182d5db47f4537 100644
--- a/actions/locomotion_primitives/P16/session_003/meta.json
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@@ -508,10 +508,124 @@
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 }
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diff --git a/actions/locomotion_primitives/P16/session_004/cameras/slam.npz b/actions/locomotion_primitives/P16/session_004/cameras/slam.npz
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+  "generated_at_utc": "2026-11-03T15:41:22.629460+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/P16/session_004",
   "family": "locomotion_primitives",
   "primitive": "P16",
   "source_session": "20260909/P16/20260909_035749_session63"
+ },
+ "task": {
+  "primitive": "P16",
+  "instruction": "Walk backward slowly; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P16/session_004/motions/hands_mano.npz b/actions/locomotion_primitives/P16/session_004/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c4d4213c0b3e32d073c2c4c0b24b9938e7c18
--- /dev/null
+++ b/actions/locomotion_primitives/P16/session_004/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce32ad51bc1cde41cf41014bc8f9fa69f745de5549f6e09add30dab6c78a3da0
+size 3046645
diff --git a/actions/locomotion_primitives/P16/session_004/motions/smplx.npz b/actions/locomotion_primitives/P16/session_004/motions/smplx.npz
index 77ebd21c442a8b535dbb22ab1e9a92d37a87ecb8..b0cfedd254137870a4ff453d2b9b49fc7ef41042 100644
--- a/actions/locomotion_primitives/P16/session_004/motions/smplx.npz
+++ b/actions/locomotion_primitives/P16/session_004/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e2d52942d6902a862fcf297e7eae2e87143dbbd69db1e117e22334d6108ff972
-size 4014398
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+size 7499887
diff --git a/actions/locomotion_primitives/P16/session_005/annotations.json b/actions/locomotion_primitives/P16/session_005/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..568b498e49c29862eb313cdac2d194f2d93c2f97
--- /dev/null
+++ b/actions/locomotion_primitives/P16/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": "P16",
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+   "end_s": 103.739,
+   "t_start": 90.4373,
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+   "instruction": "Walk backward slowly; stop."
+  },
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+   "instruction": "Walk backward slowly; stop."
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+   "instruction": "Walk backward slowly; stop."
+  },
+  {
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+   "segment": "segment1",
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+   "instruction": "Walk backward slowly; stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P16/session_005/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P16/session_005/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..091885ada5ca76252b42ca844b219b45072736d5
--- /dev/null
+++ b/actions/locomotion_primitives/P16/session_005/cameras/gsi_online_calibration.json
@@ -0,0 +1,255 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.352
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.8058,
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+   "held_out_px_before": 3.36,
+   "inliers": 2433,
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+   "rotvec_deg": [
+    0.3526,
+    -0.3391,
+    -0.6403
+   ],
+   "split_deg": 0.1018,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.8784,
+   "gate_fail": [],
+   "held_out_px_after": 0.405,
+   "held_out_px_before": 6.826,
+   "inliers": 3544,
+   "position_fitted": true,
+   "position_mm": [
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+    -8.21,
+    7.08
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+   "position_split_mm": 0.861,
+   "rotvec_deg": [
+    0.2051,
+    0.5656,
+    -1.7795
+   ],
+   "split_deg": 0.0305,
+   "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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+    1.0438,
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+    -0.1677
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+  },
+  "right_eye": {
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
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+   "position_fitted": true,
+   "position_mm": [
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+    -9.43,
+    7.41
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+    -0.5184,
+    -0.4571
+   ],
+   "split_deg": 0.0448,
+   "usable": true
+  },
+  "right_front": {
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+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+   "held_out_px_before": 5.388,
+   "inliers": 4833,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3917,
+    -0.0376,
+    -1.277
+   ],
+   "split_deg": 0.019,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "c2b548a259834698d122e90e5ca49a77df942af88e5304b94dc62c034923b60d",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "6238443b87720b9337c76ffcb0900f9a94601a35c6a09240271f15588deb69dc",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
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+   "sha256": "76389e147c3a7f36cd2c9b0b78785d361cf6f1d275e13fcf94d93855519a7b3f",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "64a78bb6fe7b980e97195bab550964cf523f588830e51a82e74cf1ac6019598c",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "85bbf7d010ee816e",
+ "kind": "online_calibration",
+ "output_sha256": "d4fb48c7a75da274fe57bba59e089877d43195d19894e989c737c35cb9a45d77",
+ "overlap": {
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+  "right_eye-right": 0.673,
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+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
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+  "left_eye": 29.301,
+  "left_front": 45.077,
+  "right": 31.556,
+  "right_eye": 29.888,
+  "right_front": 43.402
+ },
+ "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/P16/session_005/cameras/slam.npz b/actions/locomotion_primitives/P16/session_005/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..998eadee1a29a42c15163732388b89f357ecdc19
--- /dev/null
+++ b/actions/locomotion_primitives/P16/session_005/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08343fdd8128cc6ac9b29b1de618ce93171c2109e6abcd1452339244f0a2612b
+size 999137
diff --git a/actions/locomotion_primitives/P16/session_005/meta.json b/actions/locomotion_primitives/P16/session_005/meta.json
index 5e51e19f69ad9814c880b948e909c6dc26497788..70986db3f8b23ea14f78d2bc46ec6bfae5f0781d 100644
--- a/actions/locomotion_primitives/P16/session_005/meta.json
+++ b/actions/locomotion_primitives/P16/session_005/meta.json
@@ -340,8 +340,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -526,10 +526,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.8165438286380965
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_deg": 10.91,
+    "offset_rotvec": [
+     -0.0077,
+     0.1476,
+     -0.1201
+    ],
+    "dev_deg": {
+     "median": 12.9,
+     "p90": 34.55
+    },
+    "samples": 3280,
+    "accepted": 2754,
+    "wrist_pos_err_mm_median": 87.1,
+    "per_camera": {
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+      "accepted": 2754,
+      "gate_deg": 30.0,
+      "offset_deg": 10.91,
+      "tier": "primary",
+      "dev_deg_median": 12.9,
+      "wrist_pos_err_mm_median": 87.1
+     }
+    },
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+     "interpolated": 5934,
+     "mean_hand": 3742,
+     "no_body_fit": 2
+    },
+    "observed_fraction": 0.8207,
+    "observed_fraction_of_valid": 0.8208,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 17.81,
+     "smplx": 0.77
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.9,
+      "p90": 14.3
+     },
+     "registered": {
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+      "p90": 12.6
+     }
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+   },
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+     0.1057
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+     "p90": 45.6
+    },
+    "samples": 3439,
+    "accepted": 2709,
+    "wrist_pos_err_mm_median": 79.9,
+    "per_camera": {
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+      "accepted": 2709,
+      "gate_deg": 30.0,
+      "offset_deg": 12.93,
+      "tier": "primary",
+      "dev_deg_median": 11.11,
+      "wrist_pos_err_mm_median": 79.9
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 6472,
+     "mean_hand": 3390,
+     "no_body_fit": 2
+    },
+    "observed_fraction": 0.8376,
+    "observed_fraction_of_valid": 0.8377,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 15.12,
+     "smplx": 0.84
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.2,
+      "p90": 8.7
+     },
+     "registered": {
+      "median": 7.5,
+      "p90": 9.1
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T19:02:44.849147+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/P16/session_005",
   "family": "locomotion_primitives",
   "primitive": "P16",
   "source_session": "20260914/P16/20260914_100509_session3"
+ },
+ "task": {
+  "primitive": "P16",
+  "instruction": "Walk backward slowly; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P16/session_005/motions/hands_mano.npz b/actions/locomotion_primitives/P16/session_005/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..60938c610e96e7384c1f41798659f8a679e572e0
--- /dev/null
+++ b/actions/locomotion_primitives/P16/session_005/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3844fb4eff81c8b69f921e31b88c10d7aebdb5c3fa7a8a3a85d7ccad281127c7
+size 4661441
diff --git a/actions/locomotion_primitives/P16/session_005/motions/smplx.npz b/actions/locomotion_primitives/P16/session_005/motions/smplx.npz
index 8fbb07a4e1a8eb495f00de50212a66519bc9ef45..16891f1c85fae2dd52b9d184024bdbed6ad0cc92 100644
--- a/actions/locomotion_primitives/P16/session_005/motions/smplx.npz
+++ b/actions/locomotion_primitives/P16/session_005/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 7984898
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diff --git a/actions/locomotion_primitives/P16/session_006/annotations.json b/actions/locomotion_primitives/P16/session_006/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b21464df81a8696f5ba1a27eb522873967db145
--- /dev/null
+++ b/actions/locomotion_primitives/P16/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": "P16",
+ "instruction": "Walk backward slowly; stop.",
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+   "video": "left_eye",
+   "video_t_start": 0.03890893710469934
+  }
+ ],
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+   "instruction": "Walk backward slowly; stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P16/session_006/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P16/session_006/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f8e0b5fa95328c552316d9bd3727dae9411dfc3
--- /dev/null
+++ b/actions/locomotion_primitives/P16/session_006/cameras/gsi_online_calibration.json
@@ -0,0 +1,255 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.353
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
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+    "right_front",
+    "left_eye",
+    "right_eye"
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+    -0.3895,
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+   "usable": true
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+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+    0.6233,
+    -1.8011
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+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+    "left",
+    "right"
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+    -0.0569,
+    -1.2725
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+   "split_deg": 0.0144,
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+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "d03f314dd3110bc52f0bc570d26d93b11338870823a37e6e15ea657cae8308a3",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
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+  },
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+  }
+ },
+ "input_fingerprint": "6dfcab2282c23742",
+ "kind": "online_calibration",
+ "output_sha256": "9c4476b348f8940c708443434f2764b8113a50300056823e8ea8a4efd3405552",
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+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
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+  "left_front": 46.207,
+  "right": 34.181,
+  "right_eye": 27.36,
+  "right_front": 43.76
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+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P16/session_006/cameras/slam.npz b/actions/locomotion_primitives/P16/session_006/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b5e5b7c94ba7fe2aef23007429caff586b5ef2b5
--- /dev/null
+++ b/actions/locomotion_primitives/P16/session_006/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1081814
diff --git a/actions/locomotion_primitives/P16/session_006/meta.json b/actions/locomotion_primitives/P16/session_006/meta.json
index 76d7925ad02dc27f6536322e69add52598d1f805..c235112e5783460719c3a9d4b67010571d44f20a 100644
--- a/actions/locomotion_primitives/P16/session_006/meta.json
+++ b/actions/locomotion_primitives/P16/session_006/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": {
@@ -518,10 +518,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.7687257960042857
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_deg": 28.36,
+    "offset_rotvec": [
+     0.4808,
+     -0.0766,
+     -0.0892
+    ],
+    "dev_deg": {
+     "median": 10.78,
+     "p90": 27.39
+    },
+    "samples": 4403,
+    "accepted": 4052,
+    "wrist_pos_err_mm_median": 64.3,
+    "per_camera": {
+     "head": {
+      "samples": 4403,
+      "accepted": 4052,
+      "gate_deg": 30.0,
+      "offset_deg": 28.36,
+      "tier": "primary",
+      "dev_deg_median": 10.78,
+      "wrist_pos_err_mm_median": 64.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 16591,
+     "interpolated": 5184,
+     "mean_hand": 901,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9599,
+    "observed_fraction_of_valid": 0.9603,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 32.3,
+     "smplx": 0.38
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 12.2,
+      "p90": 14.9
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+     "registered": {
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+    "dev_deg": {
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+     "p90": 39.0
+    },
+    "samples": 3410,
+    "accepted": 2161,
+    "wrist_pos_err_mm_median": 341.8,
+    "per_camera": {
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+      "accepted": 2161,
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+      "offset_deg": 16.36,
+      "tier": "primary",
+      "dev_deg_median": 26.45,
+      "wrist_pos_err_mm_median": 341.8
+     }
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+    "observed_fraction_of_valid": 0.7689,
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+     "smplx": 0.41
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+    "hand_marker_to_mesh_mm": {
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+      "median": 6.9,
+      "p90": 8.7
+     },
+     "registered": {
+      "median": 7.0,
+      "p90": 8.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T23:05:43.997725+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/P16/session_006",
   "family": "locomotion_primitives",
   "primitive": "P16",
   "source_session": "20260916/P16/20260916_054330_session89"
+ },
+ "task": {
+  "primitive": "P16",
+  "instruction": "Walk backward slowly; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P16/session_006/motions/hands_mano.npz b/actions/locomotion_primitives/P16/session_006/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6e693895e358e41805d8f80377d43ad1a0fc47a1
--- /dev/null
+++ b/actions/locomotion_primitives/P16/session_006/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4cc7838d28dfaaa16da700d6c2ba33e240817c51585a122c962f79febc8cea7
+size 5395045
diff --git a/actions/locomotion_primitives/P16/session_006/motions/smplx.npz b/actions/locomotion_primitives/P16/session_006/motions/smplx.npz
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--- a/actions/locomotion_primitives/P16/session_006/motions/smplx.npz
+++ b/actions/locomotion_primitives/P16/session_006/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P16/session_007/annotations.json b/actions/locomotion_primitives/P16/session_007/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..6504e0f4045c5fb751d494ac4048c61a10eb45a3
--- /dev/null
+++ b/actions/locomotion_primitives/P16/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": "P16",
+ "instruction": "Walk backward slowly; stop.",
+ "segments": [
+  {
+   "id": "segment1",
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+}
diff --git a/actions/locomotion_primitives/P16/session_007/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P16/session_007/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e552bc84cc2809476ff1d42d12a9672cd4f6e1a
--- /dev/null
+++ b/actions/locomotion_primitives/P16/session_007/cameras/gsi_online_calibration.json
@@ -0,0 +1,257 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.346
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.0221,
+   "gate_fail": [],
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+   "held_out_px_before": 4.424,
+   "inliers": 1950,
+   "position_fitted": false,
+   "rotvec_deg": [
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+    -0.353,
+    -0.8619
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+   "split_deg": 0.0452,
+   "usable": true
+  },
+  "left_eye": {
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+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.8813,
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+   "held_out_px_before": 6.138,
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+    2.34,
+    -11.5,
+    9.52
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+   "position_split_mm": 5.173,
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+    0.062,
+    0.6027,
+    -1.781
+   ],
+   "split_deg": 0.029,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
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+    -0.2896,
+    -0.0765
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+   "usable": true
+  },
+  "right_eye": {
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+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
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+    5.94
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+    -0.4071
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+   "usable": true
+  },
+  "right_front": {
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+   "against": [
+    "left_front",
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+    "right_eye",
+    "left",
+    "right"
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+    0.0162,
+    -1.3125
+   ],
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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": {
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+  },
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+  },
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+  },
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+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "bbea872c8d0f6f31",
+ "kind": "online_calibration",
+ "output_sha256": "3132d7c1ed55d51e369b3aa2e0261853354f0259bc7f6fef81f823865dad65c5",
+ "overlap": {
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+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 32.316,
+  "left_eye": 26.235,
+  "left_front": 34.78,
+  "right": 37.398,
+  "right_eye": 25.886,
+  "right_front": 33.931
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
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+   3576009765000,
+   3577009687222
+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P16/session_007/cameras/slam.npz b/actions/locomotion_primitives/P16/session_007/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..751682d4de57e6bb765c10b8a9cb877b2723dde5
--- /dev/null
+++ b/actions/locomotion_primitives/P16/session_007/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61d21c010ebdce03592546b3a1527a418715f0f14ce397686ec5ff8324c58525
+size 685454
diff --git a/actions/locomotion_primitives/P16/session_007/meta.json b/actions/locomotion_primitives/P16/session_007/meta.json
index 3c617b3c4872c3a13e1a7c7988baefdc8d50f4a8..4c266885b349759e68a4882405e0521f82917981 100644
--- a/actions/locomotion_primitives/P16/session_007/meta.json
+++ b/actions/locomotion_primitives/P16/session_007/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": 0.7182399813345686
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     0.1735,
+     0.0429,
+     -0.0135
+    ],
+    "dev_deg": {
+     "median": 14.88,
+     "p90": 28.17
+    },
+    "samples": 2416,
+    "accepted": 2224,
+    "wrist_pos_err_mm_median": 107.1,
+    "per_camera": {
+     "head": {
+      "samples": 2416,
+      "accepted": 2224,
+      "gate_deg": 30.0,
+      "offset_deg": 10.27,
+      "tier": "primary",
+      "dev_deg_median": 14.88,
+      "wrist_pos_err_mm_median": 107.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9231,
+     "interpolated": 4616,
+     "mean_hand": 429,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9694,
+    "observed_fraction_of_valid": 0.9699,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.87,
+     "smplx": 0.44
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 14.0,
+      "p90": 24.6
+     },
+     "registered": {
+      "median": 13.9,
+      "p90": 23.7
+     }
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+    "offset_rotvec": [
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+     0.1713
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+    "dev_deg": {
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+     "p90": 19.63
+    },
+    "samples": 3079,
+    "accepted": 2947,
+    "wrist_pos_err_mm_median": 69.0,
+    "per_camera": {
+     "head": {
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+      "accepted": 2947,
+      "gate_deg": 30.0,
+      "offset_deg": 19.07,
+      "tier": "primary",
+      "dev_deg_median": 9.1,
+      "wrist_pos_err_mm_median": 69.0
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 1892,
+     "mean_hand": 441,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9686,
+    "observed_fraction_of_valid": 0.9691,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 21.14,
+     "smplx": 0.41
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 16.2,
+      "p90": 24.2
+     },
+     "registered": {
+      "median": 15.4,
+      "p90": 22.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:55:58.582281+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/P16/session_007",
   "family": "locomotion_primitives",
   "primitive": "P16",
   "source_session": "20260919/P16/20260919_013059_session11"
+ },
+ "task": {
+  "primitive": "P16",
+  "instruction": "Walk backward slowly; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P16/session_007/motions/hands_mano.npz b/actions/locomotion_primitives/P16/session_007/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7952ffdcd37cb1af5ee6ae4db1bdccde652f629b
--- /dev/null
+++ b/actions/locomotion_primitives/P16/session_007/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18d964b223c8b0cdb5fccadf8865ff4fc5ea676f97c852b549d864327bc2bda5
+size 3778495
diff --git a/actions/locomotion_primitives/P16/session_007/motions/smplx.npz b/actions/locomotion_primitives/P16/session_007/motions/smplx.npz
index 4cf9255bd111b08f3e30a4f4184b2dcc9679f1a7..dec9de042976791ac20e11fe820073266e17a844 100644
--- a/actions/locomotion_primitives/P16/session_007/motions/smplx.npz
+++ b/actions/locomotion_primitives/P16/session_007/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:14cf8f80f04a0dbe10628a35f1afb1c418a94283372c88c69c782019a08550c8
-size 5494829
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diff --git a/actions/locomotion_primitives/P16/session_008/annotations.json b/actions/locomotion_primitives/P16/session_008/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2dd99760a7c74c708549c4de8119b7c290e2d3a
--- /dev/null
+++ b/actions/locomotion_primitives/P16/session_008/annotations.json
@@ -0,0 +1,149 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P16",
+ "instruction": "Walk backward slowly; stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 63.966711,
+   "video": "left_eye",
+   "video_t_start": 0.038754047662160174
+  }
+ ],
+ "episodes": [
+  {
+   "id": "ac928baa-d5db-480d-a8ae-60e2387b2eee",
+   "segment": "segment1",
+   "action": "P16",
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+   "end_s": 5.054,
+   "t_start": 0.5028,
+   "t_end": 5.0928,
+   "instruction": "Walk backward slowly; stop."
+  },
+  {
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+   "segment": "segment1",
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+   "end_s": 10.909,
+   "t_start": 5.0928,
+   "t_end": 10.9478,
+   "instruction": "Walk backward slowly; stop."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P16",
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+   "end_s": 15.931,
+   "t_start": 10.9478,
+   "t_end": 15.9698,
+   "instruction": "Walk backward slowly; stop."
+  },
+  {
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new file mode 100644
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--- /dev/null
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--- a/actions/locomotion_primitives/P16/session_008/meta.json
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@@ -512,10 +512,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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  }
 }
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diff --git a/actions/locomotion_primitives/P16/session_009/cameras/slam.npz b/actions/locomotion_primitives/P16/session_009/cameras/slam.npz
new file mode 100644
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--- /dev/null
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  }
 }
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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",
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+ "instruction": "Walk backward slowly; stop.",
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+  }
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+   "instruction": "Walk backward slowly; stop."
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+   "instruction": "Walk backward slowly; stop."
+  },
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+   "instruction": "Walk backward slowly; stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P16/session_010/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P16/session_010/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f5bce4b4d3277266bf61d167416f83ffc643a27
--- /dev/null
+++ b/actions/locomotion_primitives/P16/session_010/cameras/gsi_online_calibration.json
@@ -0,0 +1,258 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.38
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.197,
+   "gate_fail": [],
+   "held_out_px_after": 0.655,
+   "held_out_px_before": 5.756,
+   "inliers": 2540,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.0821,
+    -0.4581,
+    -1.1029
+   ],
+   "split_deg": 0.1109,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.5701,
+   "gate_fail": [],
+   "held_out_px_after": 0.399,
+   "held_out_px_before": 6.651,
+   "inliers": 3704,
+   "position_fitted": true,
+   "position_mm": [
+    1.84,
+    -7.98,
+    0.77
+   ],
+   "position_sigma_mm": 0.315,
+   "position_split_mm": 0.468,
+   "rotvec_deg": [
+    0.2017,
+    0.8878,
+    -2.4034
+   ],
+   "split_deg": 0.0524,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 1.4915,
+   "gate_fail": [],
+   "held_out_px_after": 0.668,
+   "held_out_px_before": 5.145,
+   "inliers": 1398,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.3618,
+    -0.3952,
+    -0.4625
+   ],
+   "split_deg": 0.0829,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.1656,
+   "gate_fail": [],
+   "held_out_px_after": 0.373,
+   "held_out_px_before": 3.454,
+   "inliers": 3961,
+   "position_fitted": true,
+   "position_mm": [
+    5.11,
+    -9.88,
+    0.75
+   ],
+   "position_sigma_mm": 0.302,
+   "position_split_mm": 0.089,
+   "rotvec_deg": [
+    0.4875,
+    -0.2337,
+    -1.0326
+   ],
+   "split_deg": 0.0436,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.034,
+   "gate_fail": [],
+   "held_out_px_after": 0.33,
+   "held_out_px_before": 6.399,
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+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2334,
+    -0.0118,
+    -2.0206
+   ],
+   "split_deg": 0.0127,
+   "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": "b0748b22ec59e6f0be0342c885c9e676efe6a81135126c29096c72639d748c34",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "e907de6c5a96d8e5f047c11494ee1aa01c7453d2f3750e2d1e9f5460e61accf6",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "30367c202fe2d5aa84669c8a4fcb344b7023a459de7a9b339790ec2f7bb036cc",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "94f25fcf006663e638def01171e9b2b3ed2693749953e84b97220536538f2878",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "94b141728247d67f",
+ "kind": "online_calibration",
+ "output_sha256": "0e142fc667dde22cf0c34eea25b8efa8678d4487cd4d21d81a216440d34e9575",
+ "overlap": {
+  "left-right": 0.501,
+  "left_eye-left": 0.707,
+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 35.537,
+  "left_eye": 26.112,
+  "left_front": 34.081,
+  "right": 35.349,
+  "right_eye": 26.139,
+  "right_front": 33.52
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   38704093862666,
+   38705093773777,
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+   38710093784888,
+   38715093773777,
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+   38793093762666,
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+   38824093784888,
+   38825093773777,
+   38831093762666,
+   38832093918222
+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P16/session_010/cameras/slam.npz b/actions/locomotion_primitives/P16/session_010/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..996998858c3e4c2b296f41878a307507d30b4de5
--- /dev/null
+++ b/actions/locomotion_primitives/P16/session_010/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2db1adce40163b141766eaff52d2a7bdfb79ff126aae976f4e174f7e43eb608
+size 771494
diff --git a/actions/locomotion_primitives/P16/session_010/meta.json b/actions/locomotion_primitives/P16/session_010/meta.json
index d1032aee51bbd506605e7269337ef03fdc472117..e17beb45a376c98c8cb31f30d9a8ff8efd2cfb2b 100644
--- a/actions/locomotion_primitives/P16/session_010/meta.json
+++ b/actions/locomotion_primitives/P16/session_010/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": 1.581281884374923
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 48.62,
+    "offset_rotvec": [
+     0.6564,
+     -0.5368,
+     0.0327
+    ],
+    "dev_deg": {
+     "median": 17.97,
+     "p90": 34.0
+    },
+    "samples": 3548,
+    "accepted": 2935,
+    "wrist_pos_err_mm_median": 64.7,
+    "per_camera": {
+     "head": {
+      "samples": 3548,
+      "accepted": 2935,
+      "gate_deg": 30.0,
+      "offset_deg": 48.62,
+      "tier": "primary",
+      "dev_deg_median": 17.97,
+      "wrist_pos_err_mm_median": 64.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12077,
+     "interpolated": 3854,
+     "mean_hand": 145,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9905,
+    "observed_fraction_of_valid": 0.991,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 54.44,
+     "smplx": 0.6
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.4,
+      "p90": 9.5
+     },
+     "registered": {
+      "median": 5.3,
+      "p90": 7.7
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 26.14,
+    "offset_rotvec": [
+     0.382,
+     0.2418,
+     0.0616
+    ],
+    "dev_deg": {
+     "median": 17.37,
+     "p90": 39.62
+    },
+    "samples": 3471,
+    "accepted": 2764,
+    "wrist_pos_err_mm_median": 62.3,
+    "per_camera": {
+     "head": {
+      "samples": 3471,
+      "accepted": 2764,
+      "gate_deg": 30.0,
+      "offset_deg": 26.14,
+      "tier": "primary",
+      "dev_deg_median": 17.37,
+      "wrist_pos_err_mm_median": 62.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11279,
+     "interpolated": 4176,
+     "mean_hand": 621,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9609,
+    "observed_fraction_of_valid": 0.9614,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 28.96,
+     "smplx": 0.4
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.7,
+      "p90": 8.1
+     },
+     "registered": {
+      "median": 7.8,
+      "p90": 8.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:25:53.892527+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/P16/session_010",
   "family": "locomotion_primitives",
   "primitive": "P16",
   "source_session": "20260929/P16/20260929_110108_session208"
+ },
+ "task": {
+  "primitive": "P16",
+  "instruction": "Walk backward slowly; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P16/session_010/motions/hands_mano.npz b/actions/locomotion_primitives/P16/session_010/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6e662ba5aa0e7873e50864b4f035b83c4d6f6438
--- /dev/null
+++ b/actions/locomotion_primitives/P16/session_010/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e22d6d961d601daad2561675525ed1a804685bb0383e6de7da575b6d5720163
+size 4782463
diff --git a/actions/locomotion_primitives/P16/session_010/motions/smplx.npz b/actions/locomotion_primitives/P16/session_010/motions/smplx.npz
index f05bc661b745ce2fc4b0564c6e8bdde73038bfd6..ffdc1f3e38211ad991097d138bbdb17a4c70a635 100644
--- a/actions/locomotion_primitives/P16/session_010/motions/smplx.npz
+++ b/actions/locomotion_primitives/P16/session_010/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2ef9d03db38d86de21559b12e6aa88362825ba0025ffffbbd250733b4abad3ab
-size 6192350
+oid sha256:cea067bdbd2b38f9629039fc3c0213367d941b59228c28bd6bea736e26950b2a
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diff --git a/actions/locomotion_primitives/P16/session_011/annotations.json b/actions/locomotion_primitives/P16/session_011/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..849d6aaafd2f6876a9093fa6b886ac220d1bfee1
--- /dev/null
+++ b/actions/locomotion_primitives/P16/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": "P16",
+ "instruction": "Walk backward slowly; stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 143.966656,
+   "video": "left_eye",
+   "video_t_start": 0.03889781171209594
+  }
+ ],
+ "episodes": [
+  {
+   "id": "0cb0fd33-d451-4dcc-8413-5ee333841f54",
+   "segment": "segment1",
+   "action": "P16",
+   "quality": "valid",
+   "start_s": 1,
+   "end_s": 11.334,
+   "t_start": 1.0389,
+   "t_end": 11.3729,
+   "instruction": "Walk backward slowly; stop."
+  },
+  {
+   "id": "29d31602-7f02-45ae-8420-8ae31b141ccf",
+   "segment": "segment1",
+   "action": "P16",
+   "quality": "valid",
+   "start_s": 16.173,
+   "end_s": 25.475,
+   "t_start": 16.2119,
+   "t_end": 25.5139,
+   "instruction": "Walk backward slowly; stop."
+  },
+  {
+   "id": "484b2f03-c7fc-42ad-a480-8706b5bfe385",
+   "segment": "segment1",
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diff --git a/actions/locomotion_primitives/P16/session_011/cameras/slam.npz b/actions/locomotion_primitives/P16/session_011/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c214e8e5d2b78dd62ec929aef9d669075abfb3d9
--- /dev/null
+++ b/actions/locomotion_primitives/P16/session_011/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 826828
diff --git a/actions/locomotion_primitives/P16/session_011/meta.json b/actions/locomotion_primitives/P16/session_011/meta.json
index aede650c5ac83bbc754118810ee155d9bbee4af1..8ef886fdf33ba353aaa25e1ebf130b55f3d352d4 100644
--- a/actions/locomotion_primitives/P16/session_011/meta.json
+++ b/actions/locomotion_primitives/P16/session_011/meta.json
@@ -322,8 +322,8 @@
   "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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    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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@@ -508,10 +508,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.4697568931679637
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   "family": "locomotion_primitives",
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   "source_session": "20260930/P16/20260930_024504_session46"
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  }
 }
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index 0000000000000000000000000000000000000000..8ada7bd50cbefb30a742cede71beb40e2d56c2c9
--- /dev/null
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diff --git a/actions/locomotion_primitives/P16/session_012/cameras/slam.npz b/actions/locomotion_primitives/P16/session_012/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a3a2fbcc5f0f60440a432b813577b6f122d902c4
--- /dev/null
+++ b/actions/locomotion_primitives/P16/session_012/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:947785dd48b9243592becd3dba6c36a78b432e29d5bbfa2b80ff37482dc806e2
+size 856162
diff --git a/actions/locomotion_primitives/P16/session_012/meta.json b/actions/locomotion_primitives/P16/session_012/meta.json
index 7f89f0d0e663e865df347a11ba7995a952b8451c..3c3c0253120c5bc7ae0c392f417fc10c77116f75 100644
--- a/actions/locomotion_primitives/P16/session_012/meta.json
+++ b/actions/locomotion_primitives/P16/session_012/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": {
@@ -506,10 +506,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.3243479959735633
  },
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+     0.0796
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+     "p90": 23.59
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+    "accepted": 3354,
+    "wrist_pos_err_mm_median": 65.8,
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+      "accepted": 3354,
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+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 65.8
+     }
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+     "interpolated": 3618,
+     "mean_hand": 560,
+     "no_body_fit": 8
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+    "observed_fraction_of_valid": 0.9687,
+    "palm_axis_vs_markers_deg": {
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+      "p90": 6.7
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+    "per_camera": {
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+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  "generated_at_utc": "2026-11-03T22:22:28.213540+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": "P16",
   "source_session": "20260930/P16/20260930_073106_session76"
+ },
+ "task": {
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+  "instruction": "Walk backward slowly; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P16/session_012/motions/hands_mano.npz b/actions/locomotion_primitives/P16/session_012/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c9afd11b8b984f89093f0197955c1dabf4e8c103
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6c5edb4c39f952c5f03e3060e6e4db0ce1124910abfa9e6dd1bd3d588579f5f
+size 4631868
diff --git a/actions/locomotion_primitives/P16/session_012/motions/smplx.npz b/actions/locomotion_primitives/P16/session_012/motions/smplx.npz
index 971c2eb49fb3d5f410c1220e9502f7a275cc5cf9..7be8a04a720626c778d0465ced043e193bd95df9 100644
--- a/actions/locomotion_primitives/P16/session_012/motions/smplx.npz
+++ b/actions/locomotion_primitives/P16/session_012/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P16/session_013/annotations.json b/actions/locomotion_primitives/P16/session_013/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4d3cd85967168cf60233d5d9f4c9a6dbff5d898
--- /dev/null
+++ b/actions/locomotion_primitives/P16/session_013/annotations.json
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+{
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+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P16",
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+ ]
+}
diff --git a/actions/locomotion_primitives/P16/session_013/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P16/session_013/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..fed3e695905d7838a0e48a030404496957e043cf
--- /dev/null
+++ b/actions/locomotion_primitives/P16/session_013/cameras/gsi_online_calibration.json
@@ -0,0 +1,254 @@
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diff --git a/actions/locomotion_primitives/P16/session_013/cameras/slam.npz b/actions/locomotion_primitives/P16/session_013/cameras/slam.npz
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+++ b/actions/locomotion_primitives/P16/session_013/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/P16/session_013/meta.json b/actions/locomotion_primitives/P16/session_013/meta.json
index df28f7713349f80811c23b366d2672c8ec887f29..14280b6dcaf77db8e6786cc9b4ab842347b564ea 100644
--- a/actions/locomotion_primitives/P16/session_013/meta.json
+++ b/actions/locomotion_primitives/P16/session_013/meta.json
@@ -365,8 +365,8 @@
   "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": {
@@ -506,10 +506,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 24.66,
+    "offset_rotvec": [
+     0.3935,
+     -0.1731,
+     -0.0225
+    ],
+    "dev_deg": {
+     "median": 13.1,
+     "p90": 27.75
+    },
+    "samples": 2975,
+    "accepted": 2719,
+    "wrist_pos_err_mm_median": 35.2,
+    "per_camera": {
+     "head": {
+      "samples": 2975,
+      "accepted": 2719,
+      "gate_deg": 30.0,
+      "offset_deg": 24.66,
+      "tier": "primary",
+      "dev_deg_median": 13.1,
+      "wrist_pos_err_mm_median": 35.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10952,
+     "interpolated": 944,
+     "mean_hand": 1757,
+     "no_body_fit": 7
+    },
+    "observed_fraction": 0.8709,
+    "observed_fraction_of_valid": 0.8713,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 24.48,
+     "smplx": 1.02
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.6,
+      "p90": 11.8
+     },
+     "registered": {
+      "median": 8.0,
+      "p90": 10.6
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 12.13,
+    "offset_rotvec": [
+     0.1686,
+     0.0456,
+     0.1198
+    ],
+    "dev_deg": {
+     "median": 6.31,
+     "p90": 15.01
+    },
+    "samples": 2977,
+    "accepted": 2926,
+    "wrist_pos_err_mm_median": 37.4,
+    "per_camera": {
+     "head": {
+      "samples": 2977,
+      "accepted": 2926,
+      "gate_deg": 30.0,
+      "offset_deg": 12.13,
+      "tier": "primary",
+      "dev_deg_median": 6.31,
+      "wrist_pos_err_mm_median": 37.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11764,
+     "interpolated": 904,
+     "mean_hand": 985,
+     "no_body_fit": 7
+    },
+    "observed_fraction": 0.9274,
+    "observed_fraction_of_valid": 0.9279,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.03,
+     "smplx": 1.3
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.1,
+      "p90": 9.3
+     },
+     "registered": {
+      "median": 5.4,
+      "p90": 7.6
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T19:54:52.484758+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/P16/session_013",
   "family": "locomotion_primitives",
   "primitive": "P16",
   "source_session": "20261020/P16/20261020_092338_session40"
+ },
+ "task": {
+  "primitive": "P16",
+  "instruction": "Walk backward slowly; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P16/session_013/motions/hands_mano.npz b/actions/locomotion_primitives/P16/session_013/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7f66ac484e9ed940aaed3154158a300317491075
--- /dev/null
+++ b/actions/locomotion_primitives/P16/session_013/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e57a95d96c63e92a974a7774ef339729cf4c5b49ab3c311494aed749e66be0ed
+size 4024140
diff --git a/actions/locomotion_primitives/P16/session_013/motions/smplx.npz b/actions/locomotion_primitives/P16/session_013/motions/smplx.npz
index b018374783b254c71cc0cfab18109e542c0823eb..d378e30b8000f1ed52d1012212e697f6540a2909 100644
--- a/actions/locomotion_primitives/P16/session_013/motions/smplx.npz
+++ b/actions/locomotion_primitives/P16/session_013/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:eebee7b1fcde8249b7814076fe358c9ca6c359503096cae2c1838cde7fe14be2
-size 5237929
+oid sha256:c9af7260b1879980c135dd55021f05883a5ed583975051ea82e6a524d5a75323
+size 9498395
diff --git a/actions/locomotion_primitives/P17/session_001/annotations.json b/actions/locomotion_primitives/P17/session_001/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..81169a30b52b17df4ed7764492c2c7569f223a79
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_001/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": "P17",
+ "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 153.966522,
+   "video": "left_eye",
+   "video_t_start": 0.03871230022664762
+  }
+ ],
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+  },
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+   "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P17/session_001/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P17/session_001/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6aae9af1998aa23b782b592f9078c0cc0cd2b5a
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_001/cameras/gsi_online_calibration.json
@@ -0,0 +1,266 @@
+{
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+   {
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+    "median_px": 625.27,
+    "pair": [
+     "left",
+     "right"
+    ]
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+ },
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
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+   ],
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+   "usable": true
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+    "left",
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+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P17/session_001/cameras/slam.npz b/actions/locomotion_primitives/P17/session_001/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..63c6c5bd3334e36958b2f56c107d627b4e63ac43
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_001/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/P17/session_001/meta.json b/actions/locomotion_primitives/P17/session_001/meta.json
index a3f4ff28f4534e9f407d126427ebfe0dcb89c8c6..1caf101d1426facaa858d78f20bd7e87b791af01 100644
--- a/actions/locomotion_primitives/P17/session_001/meta.json
+++ b/actions/locomotion_primitives/P17/session_001/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": {
@@ -534,10 +534,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 15.23,
+    "offset_rotvec": [
+     -0.143,
+     -0.2199,
+     -0.0436
+    ],
+    "dev_deg": {
+     "median": 8.77,
+     "p90": 19.27
+    },
+    "samples": 4214,
+    "accepted": 4083,
+    "wrist_pos_err_mm_median": 49.5,
+    "per_camera": {
+     "head": {
+      "samples": 4214,
+      "accepted": 4083,
+      "gate_deg": 30.0,
+      "offset_deg": 15.23,
+      "tier": "primary",
+      "dev_deg_median": 8.77,
+      "wrist_pos_err_mm_median": 49.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 16522,
+     "interpolated": 1586,
+     "mean_hand": 356,
+     "no_body_fit": 20
+    },
+    "observed_fraction": 0.9797,
+    "observed_fraction_of_valid": 0.9807,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.04,
+     "smplx": 0.71
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.9,
+      "p90": 8.9
+     },
+     "registered": {
+      "median": 9.1,
+      "p90": 10.4
+     }
+    }
+   },
+   "right": {
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+    "offset_rotvec": [
+     -0.0102,
+     -0.0492,
+     0.152
+    ],
+    "dev_deg": {
+     "median": 7.09,
+     "p90": 19.26
+    },
+    "samples": 3860,
+    "accepted": 3716,
+    "wrist_pos_err_mm_median": 37.9,
+    "per_camera": {
+     "head": {
+      "samples": 3860,
+      "accepted": 3716,
+      "gate_deg": 30.0,
+      "offset_deg": 9.17,
+      "tier": "primary",
+      "dev_deg_median": 7.09,
+      "wrist_pos_err_mm_median": 37.9
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 2894,
+     "mean_hand": 484,
+     "no_body_fit": 20
+    },
+    "observed_fraction": 0.9727,
+    "observed_fraction_of_valid": 0.9738,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 9.85,
+     "smplx": 0.82
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.7,
+      "p90": 9.1
+     },
+     "registered": {
+      "median": 7.9,
+      "p90": 9.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:32:48.930141+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/P17/session_001",
   "family": "locomotion_primitives",
   "primitive": "P17",
   "source_session": "20260828/P17/20260828_065905_session28"
+ },
+ "task": {
+  "primitive": "P17",
+  "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal."
  }
 }
diff --git a/actions/locomotion_primitives/P17/session_001/motions/hands_mano.npz b/actions/locomotion_primitives/P17/session_001/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e1fd374d9d1536af4295549ce3e8561264131abd
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_001/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2457da66ec14604ed27e962c17a6edb78bd64973be253ba70a1726a4877986c9
+size 5483075
diff --git a/actions/locomotion_primitives/P17/session_001/motions/smplx.npz b/actions/locomotion_primitives/P17/session_001/motions/smplx.npz
index fee7ccf3d0771d49e39f9ce1ae1ca25fbacb3e96..7505f564e7c673db4deaa6e07283866f065a686e 100644
--- a/actions/locomotion_primitives/P17/session_001/motions/smplx.npz
+++ b/actions/locomotion_primitives/P17/session_001/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d2cf4781517bd7774f360e5403f9407b9c31c7ea080e36fc329b2547fee82593
-size 7072579
+oid sha256:8559c7d5ea73a365f85166f8cab4e3e2dac7a095dca6febde08619f239688ce5
+size 13182333
diff --git a/actions/locomotion_primitives/P17/session_002/annotations.json b/actions/locomotion_primitives/P17/session_002/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..f92bf295520ecb847d7cd111c5f62af1f420841b
--- /dev/null
+++ b/actions/locomotion_primitives/P17/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": "P17",
+ "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal.",
+ "segments": [
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+   "video": "left_eye",
+   "video_t_start": 0.03847840990592655
+  }
+ ],
+ "episodes": [
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+   "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal."
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+   "t_end": 53.0585,
+   "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P17",
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+   "t_start": 56.1805,
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+   "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P17",
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+   "t_end": 74.2765,
+   "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal."
+  },
+  {
+   "id": "3b4537c6-6391-4e75-a90e-a2641cdfd61f",
+   "segment": "segment1",
+   "action": "P17",
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+   "t_start": 76.7465,
+   "t_end": 83.8695,
+   "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal."
+  },
+  {
+   "id": "80a8c271-15be-4b77-aca0-0ee46e79e719",
+   "segment": "segment1",
+   "action": "P17",
+   "quality": "valid",
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+   "end_s": 94.572,
+   "t_start": 87.9075,
+   "t_end": 94.6105,
+   "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal."
+  },
+  {
+   "id": "508f1e16-3254-404c-ae02-bb8143b99b68",
+   "segment": "segment1",
+   "action": "P17",
+   "quality": "valid",
+   "start_s": 97.219,
+   "end_s": 104.767,
+   "t_start": 97.2575,
+   "t_end": 104.8055,
+   "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P17/session_002/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P17/session_002/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..f612e78c0b3dc65023bca9263df7cbc4af0b49da
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_002/cameras/gsi_online_calibration.json
@@ -0,0 +1,262 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 216,
+    "median_px": 625.48,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.348
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.9089,
+   "gate_fail": [],
+   "held_out_px_after": 0.486,
+   "held_out_px_before": 8.015,
+   "inliers": 1933,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.0219,
+    0.8084,
+    0.4148
+   ],
+   "split_deg": 0.1696,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0829,
+   "gate_fail": [],
+   "held_out_px_after": 0.393,
+   "held_out_px_before": 2.978,
+   "inliers": 2769,
+   "position_fitted": true,
+   "position_mm": [
+    -8.05,
+    7.87,
+    11.62
+   ],
+   "position_sigma_mm": 0.294,
+   "position_split_mm": 4.916,
+   "rotvec_deg": [
+    0.0925,
+    0.685,
+    -0.8336
+   ],
+   "split_deg": 0.0661,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.4038,
+   "gate_fail": [],
+   "held_out_px_after": 0.518,
+   "held_out_px_before": 2.104,
+   "inliers": 1431,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2437,
+    -0.2093,
+    -0.2447
+   ],
+   "split_deg": 0.0815,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.803,
+   "gate_fail": [],
+   "held_out_px_after": 0.36,
+   "held_out_px_before": 1.838,
+   "inliers": 3286,
+   "position_fitted": true,
+   "position_mm": [
+    -8.83,
+    10.23,
+    10.38
+   ],
+   "position_sigma_mm": 0.359,
+   "position_split_mm": 4.0,
+   "rotvec_deg": [
+    0.2978,
+    0.3094,
+    -0.6786
+   ],
+   "split_deg": 0.1041,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9316,
+   "gate_fail": [],
+   "held_out_px_after": 0.341,
+   "held_out_px_before": 7.594,
+   "inliers": 3724,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3178,
+    0.5412,
+    -1.8268
+   ],
+   "split_deg": 0.0422,
+   "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": "8f1f56e9bdd7943f9fb8f460aa8a259e9e421e0a836415e86cff6425e31d8992",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "9a176cef53b81828d1dfc93b59fb8fd60c7120ab7213c5bd55cc052712bcbd48",
+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "71ee9a00cd6111717d2b7a3de5134c044a423d06f8d5c0a984476ef0dea592d0",
+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "89cd8de74d32645420c1b8d515f9dee93de0af5ce2b57a6958316a1b4791a501",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "122786b688859faa",
+ "kind": "online_calibration",
+ "output_sha256": "965586809fd76acca89b09962ee7d5506f6cbc268ea48c5a167587a34a2c3224",
+ "overlap": {
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+  "left_eye-left": 0.707,
+  "left_eye-right": 0.685,
+  "left_front-left": 0.484,
+  "left_front-left_eye": 0.709,
+  "left_front-right": 0.464,
+  "left_front-right_eye": 0.711,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.708,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.668,
+  "right_front-left": 0.482,
+  "right_front-left_eye": 0.711,
+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
+ "picture_change": {
+  "left": 40.302,
+  "left_eye": 36.187,
+  "left_front": 39.915,
+  "right": 42.098,
+  "right_eye": 37.75,
+  "right_front": 41.246
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
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+   5333595823777,
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+   5337595834888,
+   5339595823777,
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P17/session_002/cameras/slam.npz b/actions/locomotion_primitives/P17/session_002/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bae3fd81e1105280138787ecfdee966019d1d6ea
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_002/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8631c0b6b7d87176a30f79e1d3f516dce17b6dcd40ccdc99049c8c74753f7e2
+size 654260
diff --git a/actions/locomotion_primitives/P17/session_002/meta.json b/actions/locomotion_primitives/P17/session_002/meta.json
index d9926d598adcdacef460bcc7dd3f9d6a7eccfc9f..a19add71c62fc5e62f6c0d35068a33f1e3b1f8fd 100644
--- a/actions/locomotion_primitives/P17/session_002/meta.json
+++ b/actions/locomotion_primitives/P17/session_002/meta.json
@@ -346,8 +346,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -527,10 +527,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 14.46,
+    "offset_rotvec": [
+     -0.1065,
+     -0.2253,
+     -0.0396
+    ],
+    "dev_deg": {
+     "median": 9.13,
+     "p90": 19.44
+    },
+    "samples": 3150,
+    "accepted": 3058,
+    "wrist_pos_err_mm_median": 56.0,
+    "per_camera": {
+     "head": {
+      "samples": 3150,
+      "accepted": 3058,
+      "gate_deg": 30.0,
+      "offset_deg": 14.46,
+      "tier": "primary",
+      "dev_deg_median": 9.13,
+      "wrist_pos_err_mm_median": 56.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12358,
+     "interpolated": 1194,
+     "mean_hand": 124,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9904,
+    "observed_fraction_of_valid": 0.9909,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.2,
+     "smplx": 0.66
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.5,
+      "p90": 7.7
+     },
+     "registered": {
+      "median": 7.6,
+      "p90": 8.4
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 9.13,
+    "offset_rotvec": [
+     -0.0638,
+     -0.0739,
+     0.126
+    ],
+    "dev_deg": {
+     "median": 5.74,
+     "p90": 17.68
+    },
+    "samples": 2762,
+    "accepted": 2667,
+    "wrist_pos_err_mm_median": 32.1,
+    "per_camera": {
+     "head": {
+      "samples": 2762,
+      "accepted": 2667,
+      "gate_deg": 30.0,
+      "offset_deg": 9.13,
+      "tier": "primary",
+      "dev_deg_median": 5.74,
+      "wrist_pos_err_mm_median": 32.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10860,
+     "interpolated": 2692,
+     "mean_hand": 124,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9904,
+    "observed_fraction_of_valid": 0.9909,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 9.16,
+     "smplx": 0.7
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.4,
+      "p90": 9.0
+     },
+     "registered": {
+      "median": 7.6,
+      "p90": 9.9
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:32:52.424745+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/P17/session_002",
   "family": "locomotion_primitives",
   "primitive": "P17",
   "source_session": "20260828/P17/20260828_070225_session29"
+ },
+ "task": {
+  "primitive": "P17",
+  "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal."
  }
 }
diff --git a/actions/locomotion_primitives/P17/session_002/motions/hands_mano.npz b/actions/locomotion_primitives/P17/session_002/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2c38da803a0cc72a7bfe75b2fbfea2cd9324b03b
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_002/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74d0a4cf63e452b0a51d442d11e1d91aedf1f91569fe8170fd503c14895a1c04
+size 4004132
diff --git a/actions/locomotion_primitives/P17/session_002/motions/smplx.npz b/actions/locomotion_primitives/P17/session_002/motions/smplx.npz
index 0aa2a8d24223ea4cd8e1de016a09e10581fc28a9..e207d5a1c4e471150217f02580f2dfe88f03ff16 100644
--- a/actions/locomotion_primitives/P17/session_002/motions/smplx.npz
+++ b/actions/locomotion_primitives/P17/session_002/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0719195eb17cba79262e8e5f0c053dd66bdca16863a9b63a13bef7a31977545f
-size 5246691
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diff --git a/actions/locomotion_primitives/P17/session_003/annotations.json b/actions/locomotion_primitives/P17/session_003/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ae23bcae806f5b577613b521e18d4ede7f58469
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_003/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": "P17",
+ "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal.",
+ "segments": [
+  {
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+   "duration_s": 88.966667,
+   "video": "left_eye",
+   "video_t_start": 0.03738529979319005
+  }
+ ],
+ "episodes": [
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+   "action": "P17",
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+   "end_s": 12.161,
+   "t_start": 0.0374,
+   "t_end": 12.1984,
+   "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal."
+  },
+  {
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+   "end_s": 25.441,
+   "t_start": 14.0054,
+   "t_end": 25.4784,
+   "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal."
+  },
+  {
+   "id": "e12ff75a-e9c8-4767-82f7-6a8a4c53dc5e",
+   "segment": "segment1",
+   "action": "P17",
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+   "t_start": 27.4234,
+   "t_end": 39.6224,
+   "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P17",
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+   "end_s": 55.182,
+   "t_start": 42.2964,
+   "t_end": 55.2194,
+   "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P17",
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+   "t_start": 57.1054,
+   "t_end": 70.5184,
+   "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal."
+  },
+  {
+   "id": "b8c15148-62a4-472c-97f4-e1e11e89e340",
+   "segment": "segment1",
+   "action": "P17",
+   "quality": "valid",
+   "start_s": 72.911,
+   "end_s": 85.414,
+   "t_start": 72.9484,
+   "t_end": 85.4514,
+   "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P17/session_003/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P17/session_003/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..c94b59c80cc7ac6a5eaa92040ff6ff2d48d8f372
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_003/cameras/gsi_online_calibration.json
@@ -0,0 +1,262 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 177,
+    "median_px": 649.22,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.368
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.3064,
+   "gate_fail": [],
+   "held_out_px_after": 0.503,
+   "held_out_px_before": 3.757,
+   "inliers": 2557,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.1428,
+    0.199,
+    -0.184
+   ],
+   "split_deg": 0.1654,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.9388,
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+   "held_out_px_after": 0.379,
+   "held_out_px_before": 3.185,
+   "inliers": 3290,
+   "position_fitted": true,
+   "position_mm": [
+    -8.42,
+    9.02,
+    13.33
+   ],
+   "position_sigma_mm": 0.284,
+   "position_split_mm": 1.415,
+   "rotvec_deg": [
+    0.005,
+    0.3443,
+    -0.8734
+   ],
+   "split_deg": 0.0672,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.6191,
+   "gate_fail": [],
+   "held_out_px_after": 0.568,
+   "held_out_px_before": 4.413,
+   "inliers": 1876,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.3089,
+    -0.5131,
+    0.1567
+   ],
+   "split_deg": 0.1295,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.6956,
+   "gate_fail": [],
+   "held_out_px_after": 0.385,
+   "held_out_px_before": 2.377,
+   "inliers": 3709,
+   "position_fitted": true,
+   "position_mm": [
+    -9.67,
+    10.11,
+    12.8
+   ],
+   "position_sigma_mm": 0.298,
+   "position_split_mm": 1.573,
+   "rotvec_deg": [
+    0.2496,
+    -0.1151,
+    -0.6389
+   ],
+   "split_deg": 0.0721,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.0994,
+   "gate_fail": [],
+   "held_out_px_after": 0.353,
+   "held_out_px_before": 9.271,
+   "inliers": 4603,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2358,
+    0.0525,
+    -2.0855
+   ],
+   "split_deg": 0.039,
+   "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": "4b0e30d3b1de3b528a51fdadb2714c1947b636697509e61ac034518e86ce1540",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "a4ebfe89ca107b8f01446ef6ce7476ef361d3a6eb6c0d3ba5bd880994a5695ce",
+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "a740c061989836ae0b902590ca3c7321106de8ea359b8c888cd82954026ea80a",
+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "068fe76d8159fd49fccfda5508f5ebe98028515b2a27f9f40accbd524e0a86b4",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "b3543ef53c190650",
+ "kind": "online_calibration",
+ "output_sha256": "b002852cef003f149df1ef69024c920f51633ed2ddee44fc877a7af75a54584e",
+ "overlap": {
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+  "left_eye-left": 0.707,
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+  "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": {
+  "left": 39.774,
+  "left_eye": 35.553,
+  "left_front": 40.489,
+  "right": 42.02,
+  "right_eye": 37.411,
+  "right_front": 38.106
+ },
+ "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/P17/session_003/cameras/slam.npz b/actions/locomotion_primitives/P17/session_003/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3c6efab81808afbc13391baa3216e507eb00984f
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_003/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb3a64f4147fd8b557d840c77c1b4e0c745450a312cd93519f6ce5ca26fdfdba
+size 513181
diff --git a/actions/locomotion_primitives/P17/session_003/meta.json b/actions/locomotion_primitives/P17/session_003/meta.json
index e67682113e30273247f63d32a00de1fc4a40c7f3..5f1569152b365bb942f777dd09bb0434dd45f5ee 100644
--- a/actions/locomotion_primitives/P17/session_003/meta.json
+++ b/actions/locomotion_primitives/P17/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": {
@@ -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": 12.21,
+    "offset_rotvec": [
+     -0.0883,
+     -0.1918,
+     -0.0284
+    ],
+    "dev_deg": {
+     "median": 5.89,
+     "p90": 17.78
+    },
+    "samples": 2218,
+    "accepted": 2183,
+    "wrist_pos_err_mm_median": 57.4,
+    "per_camera": {
+     "head": {
+      "samples": 2218,
+      "accepted": 2183,
+      "gate_deg": 30.0,
+      "offset_deg": 12.21,
+      "tier": "primary",
+      "dev_deg_median": 5.89,
+      "wrist_pos_err_mm_median": 57.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9003,
+     "interpolated": 1309,
+     "mean_hand": 152,
+     "no_body_fit": 220
+    },
+    "observed_fraction": 0.9652,
+    "observed_fraction_of_valid": 0.9855,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 9.9,
+     "smplx": 1.58
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.7,
+      "p90": 8.9
+     },
+     "registered": {
+      "median": 9.1,
+      "p90": 11.6
+     }
+    }
+   },
+   "right": {
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+    "offset_rotvec": [
+     -0.0519,
+     -0.1187,
+     0.1472
+    ],
+    "dev_deg": {
+     "median": 8.8,
+     "p90": 31.55
+    },
+    "samples": 1886,
+    "accepted": 1680,
+    "wrist_pos_err_mm_median": 36.5,
+    "per_camera": {
+     "head": {
+      "samples": 1886,
+      "accepted": 1680,
+      "gate_deg": 30.0,
+      "offset_deg": 11.23,
+      "tier": "primary",
+      "dev_deg_median": 8.8,
+      "wrist_pos_err_mm_median": 36.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 6997,
+     "interpolated": 3024,
+     "mean_hand": 443,
+     "no_body_fit": 220
+    },
+    "observed_fraction": 0.9379,
+    "observed_fraction_of_valid": 0.9577,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.0,
+     "smplx": 1.81
+    },
+    "hand_marker_to_mesh_mm": {
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+  "max_gap_s": 1.0,
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+  ],
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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/P17/session_003",
   "family": "locomotion_primitives",
   "primitive": "P17",
   "source_session": "20260904/P17/20260904_042332_session51"
+ },
+ "task": {
+  "primitive": "P17",
+  "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal."
  }
 }
diff --git a/actions/locomotion_primitives/P17/session_003/motions/hands_mano.npz b/actions/locomotion_primitives/P17/session_003/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f3d0ca1d3d2508a62cc4f1df655eb20deb3b7d56
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_003/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 2930981
diff --git a/actions/locomotion_primitives/P17/session_003/motions/smplx.npz b/actions/locomotion_primitives/P17/session_003/motions/smplx.npz
index 5faef8a26648d6767907524b25ce5000b0310f1a..ae690f924442ad39bb2cd993dbc734d5641f3712 100644
--- a/actions/locomotion_primitives/P17/session_003/motions/smplx.npz
+++ b/actions/locomotion_primitives/P17/session_003/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 4042679
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diff --git a/actions/locomotion_primitives/P17/session_004/annotations.json b/actions/locomotion_primitives/P17/session_004/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..d78d9c75348a7698468e4ff4269554c4cb2bdf7e
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_004/annotations.json
@@ -0,0 +1,149 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P17",
+ "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal.",
+ "segments": [
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+   "video": "left_eye",
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+  }
+ ],
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+   "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal."
+  },
+  {
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+   "t_end": 101.393,
+   "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P17/session_004/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P17/session_004/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..036e15073475686769d11f8897d2cdd42947640a
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_004/cameras/gsi_online_calibration.json
@@ -0,0 +1,257 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.331
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.7517,
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+   "held_out_px_before": 5.44,
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+   "rotvec_deg": [
+    0.5918,
+    -0.3361,
+    -0.319
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+   "split_deg": 0.0373,
+   "usable": true
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+   "against": [
+    "left_front",
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+    "right_eye",
+    "left",
+    "right"
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+   "delta_deg": 1.7714,
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+    0.4448,
+    0.5556,
+    -1.6221
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+   "role": "rig origin"
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+    "right_front",
+    "left_eye",
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+    0.4147
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+   "against": [
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+    "left_eye",
+    "left",
+    "right"
+   ],
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+    4.12
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+    -0.5051,
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+   "split_deg": 0.0117,
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+   "held_out_px_before": 3.896,
+   "inliers": 6530,
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+    -0.1212,
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+   "split_deg": 0.0127,
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+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "2354cd22575264463d6983292fbf3c5bfb2f7b626decaf8d54041226e11f9e06",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "65099e5f32a3c56f6047d6542df58c9971cd59a3c56920f4cf356aaea0571b11",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
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+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "563a9a3a0f665d90",
+ "kind": "online_calibration",
+ "output_sha256": "9bf4c43d6821c711a98e6013d9bb05050c3168e672227641cd176a434d6181a0",
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+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
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+  "left_eye": 33.263,
+  "left_front": 39.543,
+  "right": 40.623,
+  "right_eye": 31.59,
+  "right_front": 37.854
+ },
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+  "opencv": "5.0.0",
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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/P17/session_004/cameras/slam.npz b/actions/locomotion_primitives/P17/session_004/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1fafc02c20945ae01936be38f28dc41ce9cb6939
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_004/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b895e1019fd9c4b0742ed8bb99ed51345e319b18d74832e31c2aa047c6e4ba66
+size 627830
diff --git a/actions/locomotion_primitives/P17/session_004/meta.json b/actions/locomotion_primitives/P17/session_004/meta.json
index 1e7485156d47225e52af2377704792a4ea36bc12..0067a3ee56eb016535919d512b9ad32a1367bd10 100644
--- a/actions/locomotion_primitives/P17/session_004/meta.json
+++ b/actions/locomotion_primitives/P17/session_004/meta.json
@@ -326,8 +326,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -506,10 +506,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.7862931293471613
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
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+     -0.2115,
+     -0.1549
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+    "dev_deg": {
+     "median": 12.76,
+     "p90": 25.73
+    },
+    "samples": 2030,
+    "accepted": 1900,
+    "wrist_pos_err_mm_median": 55.2,
+    "per_camera": {
+     "head": {
+      "samples": 2030,
+      "accepted": 1900,
+      "gate_deg": 30.0,
+      "offset_deg": 19.2,
+      "tier": "primary",
+      "dev_deg_median": 12.76,
+      "wrist_pos_err_mm_median": 55.2
+     }
+    },
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+     "interpolated": 3910,
+     "mean_hand": 1328,
+     "no_body_fit": 8
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+    "observed_fraction": 0.8979,
+    "observed_fraction_of_valid": 0.8984,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 15.66,
+     "smplx": 0.56
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 7.9
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+      "p90": 8.7
+     }
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+     0.208,
+     0.0251
+    ],
+    "dev_deg": {
+     "median": 18.32,
+     "p90": 41.95
+    },
+    "samples": 2135,
+    "accepted": 1643,
+    "wrist_pos_err_mm_median": 108.9,
+    "per_camera": {
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+      "accepted": 1643,
+      "gate_deg": 30.0,
+      "offset_deg": 14.16,
+      "tier": "primary",
+      "dev_deg_median": 18.32,
+      "wrist_pos_err_mm_median": 108.9
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 3016,
+     "mean_hand": 3324,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.7453,
+    "observed_fraction_of_valid": 0.7458,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 16.56,
+     "smplx": 0.74
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.3,
+      "p90": 10.0
+     },
+     "registered": {
+      "median": 8.2,
+      "p90": 10.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T14:59:37.020923+00:00",
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+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
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+ },
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   "family": "locomotion_primitives",
   "primitive": "P17",
   "source_session": "20260908/P17/20260908_014631_session15"
+ },
+ "task": {
+  "primitive": "P17",
+  "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal."
  }
 }
diff --git a/actions/locomotion_primitives/P17/session_004/motions/hands_mano.npz b/actions/locomotion_primitives/P17/session_004/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0d176b78f7e223cad2ada4ca21724fa8f85a645c
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_004/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/actions/locomotion_primitives/P17/session_004/motions/smplx.npz b/actions/locomotion_primitives/P17/session_004/motions/smplx.npz
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--- a/actions/locomotion_primitives/P17/session_004/motions/smplx.npz
+++ b/actions/locomotion_primitives/P17/session_004/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 5037109
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diff --git a/actions/locomotion_primitives/P17/session_005/annotations.json b/actions/locomotion_primitives/P17/session_005/annotations.json
new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_primitives/P17/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": "P17",
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+ ]
+}
diff --git a/actions/locomotion_primitives/P17/session_005/meta.json b/actions/locomotion_primitives/P17/session_005/meta.json
index 93be19b8bff3851bd080775456b7fb9f24b2ac5e..27b1a8c6dccb29615307f98f9b3113a14fd63447 100644
--- a/actions/locomotion_primitives/P17/session_005/meta.json
+++ b/actions/locomotion_primitives/P17/session_005/meta.json
@@ -515,5 +515,9 @@
   "family": "locomotion_primitives",
   "primitive": "P17",
   "source_session": "20260908/P17/20260908_095704_session107"
+ },
+ "task": {
+  "primitive": "P17",
+  "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal."
  }
 }
diff --git a/actions/locomotion_primitives/P17/session_006/annotations.json b/actions/locomotion_primitives/P17/session_006/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..263b0ab8853e91b170312872986ee42bd9fe3e6f
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_006/annotations.json
@@ -0,0 +1,149 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P17",
+ "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal.",
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+   "video": "left_eye",
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+ ]
+}
diff --git a/actions/locomotion_primitives/P17/session_006/cameras/slam.npz b/actions/locomotion_primitives/P17/session_006/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..57fead5a08cf56959b3e02a0194c0b278b6f02fb
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_006/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcfe94bb444f9394e55eb717286f0d11fc45ba71e894834693e092657d19eeea
+size 656631
diff --git a/actions/locomotion_primitives/P17/session_006/meta.json b/actions/locomotion_primitives/P17/session_006/meta.json
index 69a022ce48cc79ce62ec9274480ef705c612b242..843ed21bc8614f63551facbc923ea4dba37e172b 100644
--- a/actions/locomotion_primitives/P17/session_006/meta.json
+++ b/actions/locomotion_primitives/P17/session_006/meta.json
@@ -342,8 +342,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -522,10 +522,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.0049979027658866
  },
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+     0.0566
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+     "p90": 38.54
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+    "per_camera": {
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+      "offset_deg": 33.49,
+      "tier": "primary",
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+     "mean_hand": 465,
+     "no_body_fit": 8
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+    "palm_axis_vs_markers_deg": {
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+  "max_gap_s": 1.0,
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+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
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   "family": "locomotion_primitives",
   "primitive": "P17",
   "source_session": "20260909/P17/20260909_010311_session10"
+ },
+ "task": {
+  "primitive": "P17",
+  "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal."
  }
 }
diff --git a/actions/locomotion_primitives/P17/session_006/motions/hands_mano.npz b/actions/locomotion_primitives/P17/session_006/motions/hands_mano.npz
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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diff --git a/actions/locomotion_primitives/P17/session_006/motions/smplx.npz b/actions/locomotion_primitives/P17/session_006/motions/smplx.npz
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diff --git a/actions/locomotion_primitives/P17/session_007/annotations.json b/actions/locomotion_primitives/P17/session_007/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9dd5098a64e1390f71ecd492d59e52aa30a8e4b
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_007/annotations.json
@@ -0,0 +1,215 @@
+{
+ "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": "P17",
+ "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal.",
+ "segments": [
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+   "video": "left_eye",
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+ ],
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+}
diff --git a/actions/locomotion_primitives/P17/session_007/cameras/slam.npz b/actions/locomotion_primitives/P17/session_007/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..35e89094bb3ee5b94ef0ae9808de287d5fdb61a7
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_007/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3781a74a74b6fbb4eb2ed5a9ae04ce3f11667107c5808a1cd169bc5816f6c864
+size 772678
diff --git a/actions/locomotion_primitives/P17/session_007/meta.json b/actions/locomotion_primitives/P17/session_007/meta.json
index c96f2b5564e4d1e891b15cdfe2ec649e658976e0..041abf83371267bbb0790f4df7f8678999139108 100644
--- a/actions/locomotion_primitives/P17/session_007/meta.json
+++ b/actions/locomotion_primitives/P17/session_007/meta.json
@@ -326,8 +326,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -519,10 +519,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.5962246771454613
  },
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+      "tier": "primary",
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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": {
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   "family": "locomotion_primitives",
   "primitive": "P17",
   "source_session": "20260912/P17/20260912_020537_session13"
+ },
+ "task": {
+  "primitive": "P17",
+  "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal."
  }
 }
diff --git a/actions/locomotion_primitives/P17/session_007/motions/hands_mano.npz b/actions/locomotion_primitives/P17/session_007/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
+oid sha256:4e7a1e668d93cf2c85fde6d9c55d6d8fc87378309a4d2b444784ca733f23539d
+size 2374214
diff --git a/actions/locomotion_primitives/P17/session_007/motions/smplx.npz b/actions/locomotion_primitives/P17/session_007/motions/smplx.npz
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--- a/actions/locomotion_primitives/P17/session_007/motions/smplx.npz
+++ b/actions/locomotion_primitives/P17/session_007/motions/smplx.npz
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-size 6211641
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diff --git a/actions/locomotion_primitives/P17/session_008/annotations.json b/actions/locomotion_primitives/P17/session_008/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8b7385dcd7b25063341420d3ec177990ce1cdf7
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_008/annotations.json
@@ -0,0 +1,171 @@
+{
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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": "P17",
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+ ]
+}
diff --git a/actions/locomotion_primitives/P17/session_008/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P17/session_008/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e660775c068278491f887e790d186043899fc63
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_008/cameras/gsi_online_calibration.json
@@ -0,0 +1,257 @@
+{
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+ },
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+  }
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+ "factory_root_name": "e17c9efadb69e7b1",
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+  "right_front-right_eye": 0.734
+ },
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+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P17/session_008/cameras/slam.npz b/actions/locomotion_primitives/P17/session_008/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..aa4783a04d16ba2f463598a9e7c4b2a0053b1b4b
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_008/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54729534c8d784850b902937df77628175ed34f5c682b77bbabeee90851c3cb5
+size 1028975
diff --git a/actions/locomotion_primitives/P17/session_008/meta.json b/actions/locomotion_primitives/P17/session_008/meta.json
index 4fc08ac5dddfc29886ab760f8743367c89d80da2..c97b691a5112c9883c4927dacef24e0f051029eb 100644
--- a/actions/locomotion_primitives/P17/session_008/meta.json
+++ b/actions/locomotion_primitives/P17/session_008/meta.json
@@ -328,8 +328,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -509,10 +509,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.8349605432693853
  },
+ "hands_registration": {
+  "cameras": {},
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+    "offset_rotvec": [
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+     "p90": 30.34
+    },
+    "samples": 4110,
+    "accepted": 3686,
+    "wrist_pos_err_mm_median": 50.0,
+    "per_camera": {
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+      "accepted": 3686,
+      "gate_deg": 30.0,
+      "offset_deg": 10.36,
+      "tier": "primary",
+      "dev_deg_median": 12.66,
+      "wrist_pos_err_mm_median": 50.0
+     }
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+     "interpolated": 5422,
+     "mean_hand": 1080,
+     "no_body_fit": 4
+    },
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+    "observed_fraction_of_valid": 0.9497,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.53
+    },
+    "hand_marker_to_mesh_mm": {
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+     }
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+     "p90": 40.41
+    },
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+    "accepted": 2730,
+    "wrist_pos_err_mm_median": 73.7,
+    "per_camera": {
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+      "accepted": 2730,
+      "gate_deg": 30.0,
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+      "tier": "primary",
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+     },
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+      "p90": 17.0
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:27:00.022846+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/P17/session_008",
   "family": "locomotion_primitives",
   "primitive": "P17",
   "source_session": "20260912/P17/20260912_073808_session46"
+ },
+ "task": {
+  "primitive": "P17",
+  "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal."
  }
 }
diff --git a/actions/locomotion_primitives/P17/session_008/motions/hands_mano.npz b/actions/locomotion_primitives/P17/session_008/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0b9161c9aaae50c2c2d7235ba2d8486ca2726ae3
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_008/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2b453f95d8011d8689a9c706e328015d2c7b39ba172ddb300846d8957cb049d
+size 5180991
diff --git a/actions/locomotion_primitives/P17/session_008/motions/smplx.npz b/actions/locomotion_primitives/P17/session_008/motions/smplx.npz
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--- a/actions/locomotion_primitives/P17/session_008/motions/smplx.npz
+++ b/actions/locomotion_primitives/P17/session_008/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 8267961
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diff --git a/actions/locomotion_primitives/P17/session_009/annotations.json b/actions/locomotion_primitives/P17/session_009/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..33cf4cb239d9c7a4a0fc79e9c8a0bed28c2781d7
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_009/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": "P17",
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+   "video": "left_eye",
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+ ]
+}
diff --git a/actions/locomotion_primitives/P17/session_009/cameras/slam.npz b/actions/locomotion_primitives/P17/session_009/cameras/slam.npz
new file mode 100644
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diff --git a/actions/locomotion_primitives/P17/session_009/meta.json b/actions/locomotion_primitives/P17/session_009/meta.json
index 37364a244efde5965aff64179c382b1b4bd82f25..254b70924ad6c21463c48494a9f88a0a84de4480 100644
--- a/actions/locomotion_primitives/P17/session_009/meta.json
+++ b/actions/locomotion_primitives/P17/session_009/meta.json
@@ -324,8 +324,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -504,10 +504,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.265221436061337
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     0.0411,
+     -0.0665,
+     0.057
+    ],
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+     "median": 12.28,
+     "p90": 24.73
+    },
+    "samples": 3470,
+    "accepted": 3291,
+    "wrist_pos_err_mm_median": 168.7,
+    "per_camera": {
+     "head": {
+      "samples": 3470,
+      "accepted": 3291,
+      "gate_deg": 30.0,
+      "offset_deg": 5.54,
+      "tier": "primary",
+      "dev_deg_median": 12.28,
+      "wrist_pos_err_mm_median": 168.7
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 1898,
+     "mean_hand": 160,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9892,
+    "observed_fraction_of_valid": 0.9897,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 11.11,
+     "smplx": 0.47
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.2,
+      "p90": 7.9
+     },
+     "registered": {
+      "median": 7.9,
+      "p90": 10.7
+     }
+    }
+   },
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+     0.3083,
+     -0.055
+    ],
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+     "median": 13.97,
+     "p90": 27.55
+    },
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+    "accepted": 2909,
+    "wrist_pos_err_mm_median": 131.1,
+    "per_camera": {
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+      "accepted": 2909,
+      "gate_deg": 30.0,
+      "offset_deg": 18.0,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 131.1
+     }
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+     "interpolated": 3422,
+     "mean_hand": 124,
+     "no_body_fit": 8
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+    "observed_fraction_of_valid": 0.992,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.31
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.9,
+      "p90": 8.2
+     },
+     "registered": {
+      "median": 6.8,
+      "p90": 7.5
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T23:03:33.000248+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/P17/session_009",
   "family": "locomotion_primitives",
   "primitive": "P17",
   "source_session": "20260917/P17/20260917_035107_session52"
+ },
+ "task": {
+  "primitive": "P17",
+  "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal."
  }
 }
diff --git a/actions/locomotion_primitives/P17/session_009/motions/hands_mano.npz b/actions/locomotion_primitives/P17/session_009/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..57516dc3fc81c16879cc5633be46bd401f773960
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_009/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc5d20e9b79aaa4264e86834cae1611f056e573af8b9cb57eeedd1ad45994f13
+size 4516815
diff --git a/actions/locomotion_primitives/P17/session_009/motions/smplx.npz b/actions/locomotion_primitives/P17/session_009/motions/smplx.npz
index f9695a736ed2b7c1ca550f0bdc21b6e501be176d..1dd615cd6d7c1fe37dcf1baf99ce5a27bf6ea3cd 100644
--- a/actions/locomotion_primitives/P17/session_009/motions/smplx.npz
+++ b/actions/locomotion_primitives/P17/session_009/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7be633094cba6955a5fe1f1e8513a8df9271c2c366d465fa4277e3b5e2f00ee7
-size 5955967
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diff --git a/actions/locomotion_primitives/P17/session_010/annotations.json b/actions/locomotion_primitives/P17/session_010/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..c60ddb9c54090b1426748a14ea649ae51e7e430f
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_010/annotations.json
@@ -0,0 +1,149 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P17",
+ "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal.",
+ "segments": [
+  {
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+   "duration_s": 118.966678,
+   "video": "left_eye",
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+  }
+ ],
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P17/session_010/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P17/session_010/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1d45ad5702ba571892b9e81f40696d3940819dd
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_010/cameras/gsi_online_calibration.json
@@ -0,0 +1,256 @@
+{
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+ },
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+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P17/session_010/cameras/slam.npz b/actions/locomotion_primitives/P17/session_010/cameras/slam.npz
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index 82c52edbe4fb1783a39ab4dc6ac59e8380d00ec2..b255b55d7da05e4ab439c0ffb90a064e40214d74 100644
--- a/actions/locomotion_primitives/P17/session_010/meta.json
+++ b/actions/locomotion_primitives/P17/session_010/meta.json
@@ -522,5 +522,9 @@
   "family": "locomotion_primitives",
   "primitive": "P17",
   "source_session": "20260917/P17/20260917_074648_session122"
+ },
+ "task": {
+  "primitive": "P17",
+  "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal."
  }
 }
diff --git a/actions/locomotion_primitives/P17/session_010/motions/hands_mano.npz b/actions/locomotion_primitives/P17/session_010/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0c80cd75fcfe1ac37b2484d7f933619a614c909f
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_010/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d58c5da722c3dc071b67aa9cd65659ae7fd2016d79710ddcd7151cdbe741ada
+size 4102661
diff --git a/actions/locomotion_primitives/P17/session_011/annotations.json b/actions/locomotion_primitives/P17/session_011/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9510c672c7653501360d3dcea6bc465f012e812
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_011/annotations.json
@@ -0,0 +1,50 @@
+{
+ "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": "P17",
+ "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 163.966567,
+   "video": "left_eye",
+   "video_t_start": 0.0394923257523736
+  }
+ ],
+ "episodes": [
+  {
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+   "action": "P17",
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+   "end_s": 20.103,
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+   "t_end": 20.1425,
+   "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal."
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+   "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal."
+  },
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+   "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P17/session_011/cameras/slam.npz b/actions/locomotion_primitives/P17/session_011/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b789c1bf709ebcee549f067c9719165baea607a5
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_011/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 944469
diff --git a/actions/locomotion_primitives/P17/session_011/meta.json b/actions/locomotion_primitives/P17/session_011/meta.json
index d91418e4144d12ee58e943bf3ddd50b1b3f92a76..2bb19e566bcbc8dd6e0e6785505eb6de108e2873 100644
--- a/actions/locomotion_primitives/P17/session_011/meta.json
+++ b/actions/locomotion_primitives/P17/session_011/meta.json
@@ -329,8 +329,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -526,10 +526,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.0298748301386007
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
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+    "offset_rotvec": [
+     0.169,
+     0.0231,
+     -0.2053
+    ],
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+     "median": 4.79,
+     "p90": 14.41
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+    "accepted": 2978,
+    "wrist_pos_err_mm_median": 130.1,
+    "per_camera": {
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+      "accepted": 2978,
+      "gate_deg": 30.0,
+      "offset_deg": 15.29,
+      "tier": "primary",
+      "dev_deg_median": 4.79,
+      "wrist_pos_err_mm_median": 130.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12293,
+     "interpolated": 7058,
+     "mean_hand": 185,
+     "no_body_fit": 148
+    },
+    "observed_fraction": 0.9831,
+    "observed_fraction_of_valid": 0.9905,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.42,
+     "smplx": 0.41
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 11.2
+     },
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+      "p90": 11.4
+     }
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+     -0.1888,
+     -0.0762,
+     0.2094
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+     "p90": 35.64
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+    "accepted": 2312,
+    "wrist_pos_err_mm_median": 149.8,
+    "per_camera": {
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+      "accepted": 2312,
+      "gate_deg": 30.0,
+      "offset_deg": 16.73,
+      "tier": "primary",
+      "dev_deg_median": 10.88,
+      "wrist_pos_err_mm_median": 149.8
+     }
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+     "interpolated": 7202,
+     "mean_hand": 2920,
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+    "observed_fraction_of_valid": 0.8505,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.83
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+     },
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+      "p90": 9.1
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:59:47.998846+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/P17/session_011",
   "family": "locomotion_primitives",
   "primitive": "P17",
   "source_session": "20260918/P17/20260918_014027_session17"
+ },
+ "task": {
+  "primitive": "P17",
+  "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal."
  }
 }
diff --git a/actions/locomotion_primitives/P17/session_011/motions/hands_mano.npz b/actions/locomotion_primitives/P17/session_011/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f317affa6f31602c44d356dbe9947e244f256e47
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_011/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:733af9e0a284f8431bfc90bf24991c1e388756d4570f1fb1a492cc8849ed6d49
+size 4034115
diff --git a/actions/locomotion_primitives/P17/session_011/motions/smplx.npz b/actions/locomotion_primitives/P17/session_011/motions/smplx.npz
index 21e1b04d7664c87ec4a99ab9245ae40e353b563d..4149c06325bc593b40aecad44ea50fd47e5b69fb 100644
--- a/actions/locomotion_primitives/P17/session_011/motions/smplx.npz
+++ b/actions/locomotion_primitives/P17/session_011/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:af5e7abe970d69fd378e079686c0283db92077567674a8780229220a99c32123
-size 7501889
+oid sha256:1f4c53a16ed569647c8991b5f019e2f8a4c12555ff22c302c24bc0db52b136a4
+size 13768734
diff --git a/actions/locomotion_primitives/P17/session_012/annotations.json b/actions/locomotion_primitives/P17/session_012/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..8289d0a352764b4cbc5d9d61e7ada6d6e4641b58
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_012/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": "P17",
+ "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal.",
+ "segments": [
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+   "video": "left_eye",
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+  }
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+   "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P17/session_012/cameras/slam.npz b/actions/locomotion_primitives/P17/session_012/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4d970e8e2ba40e73207b6b1179e0a627dfcfb6b2
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_012/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39ffb9d51dc9863082d9825fbee474ed531b4a17aca9bbac14facc6ad1793630
+size 541544
diff --git a/actions/locomotion_primitives/P17/session_012/meta.json b/actions/locomotion_primitives/P17/session_012/meta.json
index c8cfc6508a5f368c6f892ee2e84281eb052aeae9..95db468ab64be5bf9463f8609222a300bf01433e 100644
--- a/actions/locomotion_primitives/P17/session_012/meta.json
+++ b/actions/locomotion_primitives/P17/session_012/meta.json
@@ -341,8 +341,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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     "left": {
@@ -534,10 +534,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.054757189981915
  },
+ "hands_registration": {
+  "cameras": {},
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+    "wrist_pos_err_mm_median": 110.1,
+    "per_camera": {
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+      "gate_deg": 30.0,
+      "offset_deg": 16.57,
+      "tier": "primary",
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+     }
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+    "observed_fraction_of_valid": 0.9564,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.55
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+    "accepted": 2020,
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+      "p90": 24.0
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+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:46:45.611925+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/P17/session_012",
   "family": "locomotion_primitives",
   "primitive": "P17",
   "source_session": "20260921/P17/20260921_012351_session15"
+ },
+ "task": {
+  "primitive": "P17",
+  "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal."
  }
 }
diff --git a/actions/locomotion_primitives/P17/session_012/motions/hands_mano.npz b/actions/locomotion_primitives/P17/session_012/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3a8e091451e6c34366466082059411789bbe47d3
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_012/motions/hands_mano.npz
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index 5bd4897607f11b4c7643de63d7902c75217dff82..c8a7d5e3938ec165485e20b60d8db7b3b253eddf 100644
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+++ b/actions/locomotion_primitives/P17/session_012/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P17/session_013/annotations.json b/actions/locomotion_primitives/P17/session_013/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..69a816e8ea19592bdf260ced27fccd57511224d3
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_013/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": "P17",
+ "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal.",
+ "segments": [
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+  }
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P17/session_013/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P17/session_013/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a57c311dd5e3a7e29b3d4828ab51f370cfa7d55
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_013/cameras/gsi_online_calibration.json
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+{
+ "camera_fit": {
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+  "median_px": 0.36
+ },
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+    -0.2406,
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+ },
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+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
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+   "sha256": "607bde0ee55975113b2ab3bb015a0af3e6a83683af6ad9c44e126142727646ed",
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+  },
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+  },
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+  }
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+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
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+  "left_front": 37.537,
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+  "right_front": 34.046
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+  "scipy": "1.17.1"
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+}
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diff --git a/actions/locomotion_primitives/P17/session_013/cameras/slam.npz b/actions/locomotion_primitives/P17/session_013/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6048bc8ea2a14ce6cbb3bb4edcefb287a9f055fc
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_013/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6efe3cc066a540f8cb0cce7b95e8c26d421f57af79df1b84034466485d42e75f
+size 911752
diff --git a/actions/locomotion_primitives/P17/session_013/meta.json b/actions/locomotion_primitives/P17/session_013/meta.json
index a7f3fd147f84686c680ccb506ee0868844d5e887..580f7e06fc7549e73185a2af8e34ecd6efa27094 100644
--- a/actions/locomotion_primitives/P17/session_013/meta.json
+++ b/actions/locomotion_primitives/P17/session_013/meta.json
@@ -327,8 +327,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -525,10 +525,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.0668996172635594
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     0.5849,
+     -0.2902,
+     -0.075
+    ],
+    "dev_deg": {
+     "median": 12.85,
+     "p90": 29.43
+    },
+    "samples": 3435,
+    "accepted": 3111,
+    "wrist_pos_err_mm_median": 92.6,
+    "per_camera": {
+     "head": {
+      "samples": 3435,
+      "accepted": 3111,
+      "gate_deg": 30.0,
+      "offset_deg": 37.66,
+      "tier": "primary",
+      "dev_deg_median": 12.85,
+      "wrist_pos_err_mm_median": 92.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12911,
+     "interpolated": 5848,
+     "mean_hand": 317,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.983,
+    "observed_fraction_of_valid": 0.9834,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 41.16,
+     "smplx": 0.58
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 4.9,
+      "p90": 6.3
+     },
+     "registered": {
+      "median": 4.9,
+      "p90": 5.7
+     }
+    }
+   },
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+    "offset_rotvec": [
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+     0.3182,
+     0.2169
+    ],
+    "dev_deg": {
+     "median": 16.23,
+     "p90": 30.62
+    },
+    "samples": 2624,
+    "accepted": 2341,
+    "wrist_pos_err_mm_median": 70.5,
+    "per_camera": {
+     "head": {
+      "samples": 2624,
+      "accepted": 2341,
+      "gate_deg": 30.0,
+      "offset_deg": 40.57,
+      "tier": "primary",
+      "dev_deg_median": 16.23,
+      "wrist_pos_err_mm_median": 70.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9633,
+     "interpolated": 5962,
+     "mean_hand": 3481,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.8172,
+    "observed_fraction_of_valid": 0.8175,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 37.52,
+     "smplx": 1.0
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.0,
+      "p90": 5.8
+     },
+     "registered": {
+      "median": 6.8,
+      "p90": 7.8
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:38:13.917487+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/P17/session_013",
   "family": "locomotion_primitives",
   "primitive": "P17",
   "source_session": "20260923/P17/20260923_073018_session57"
+ },
+ "task": {
+  "primitive": "P17",
+  "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal."
  }
 }
diff --git a/actions/locomotion_primitives/P17/session_013/motions/hands_mano.npz b/actions/locomotion_primitives/P17/session_013/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..18630f3b4c362016441e68f3fe0c8b0deac68319
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_013/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:934ea38f18275e90e5034a779294e9cffe6acf0e749deed74a893c6ad25d2110
+size 4224809
diff --git a/actions/locomotion_primitives/P17/session_013/motions/smplx.npz b/actions/locomotion_primitives/P17/session_013/motions/smplx.npz
index eb408d0fef931ffb6b0f6c933dab3c0c4602af8c..8763e4f348b0bfdcca49125da8f0f035dae2b7ec 100644
--- a/actions/locomotion_primitives/P17/session_013/motions/smplx.npz
+++ b/actions/locomotion_primitives/P17/session_013/motions/smplx.npz
@@ -1,3 +1,3 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..37702fc533733e4f37dffbdfe3050c52981a75cb
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_014/annotations.json
@@ -0,0 +1,94 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P17",
+ "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal.",
+ "segments": [
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+  }
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P17/session_014/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P17/session_014/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ea9f139a9689e5b6091005b0977d47cf8151e76
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_014/cameras/gsi_online_calibration.json
@@ -0,0 +1,254 @@
+{
+ "camera_fit": {
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+  "groups_used": 14,
+  "median_px": 0.378
+ },
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
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+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
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+    -7.37,
+    3.17
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+    0.6938,
+    -2.1933
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+   "split_deg": 0.0343,
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+  "left_front": {
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+   "accepted": true,
+   "against": [
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+    "right_front",
+    "left_eye",
+    "right_eye"
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+    -0.367
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+   "usable": true
+  },
+  "right_eye": {
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+   "against": [
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+    "right_front",
+    "left_eye",
+    "left",
+    "right"
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+    3.38
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+    -0.8793
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+  },
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+    "right_eye",
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+    -2.0269
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+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
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+  },
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+   "sha256": "339a4645f26426da29710190e15aff9cfd20b7c8308c56e3e97955b2292d4432",
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+  }
+ },
+ "input_fingerprint": "ec58fb6847a503e5",
+ "kind": "online_calibration",
+ "output_sha256": "a9a52c6470c4f00fdcfd2b62fce4c737cc446c47767289fa86d68458dbd5ce0a",
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+  "right_eye-right": 0.673,
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+  "right_front-right_eye": 0.734
+ },
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+  "left_front": 34.204,
+  "right": 37.812,
+  "right_eye": 29.826,
+  "right_front": 33.649
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+  "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/P17/session_014/cameras/slam.npz b/actions/locomotion_primitives/P17/session_014/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..34ff2755045a55df0de844f8781a07d97cda88bf
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_014/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4bd7722b39202072cc5760a98ce4ff48774bce1cfd96be59ac0a390469d75c4
+size 742286
diff --git a/actions/locomotion_primitives/P17/session_014/meta.json b/actions/locomotion_primitives/P17/session_014/meta.json
index cdda552d6cd45702d6caffc067e50677c1d6fc48..e48e86144db52fbbb746ca9a30716dbb0cf4fbd5 100644
--- a/actions/locomotion_primitives/P17/session_014/meta.json
+++ b/actions/locomotion_primitives/P17/session_014/meta.json
@@ -341,8 +341,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -528,10 +528,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.2037863144290535
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_deg": 12.44,
+    "offset_rotvec": [
+     0.088,
+     -0.1887,
+     -0.0617
+    ],
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+     "median": 11.39,
+     "p90": 39.83
+    },
+    "samples": 3095,
+    "accepted": 2525,
+    "wrist_pos_err_mm_median": 61.5,
+    "per_camera": {
+     "head": {
+      "samples": 3095,
+      "accepted": 2525,
+      "gate_deg": 30.0,
+      "offset_deg": 12.44,
+      "tier": "primary",
+      "dev_deg_median": 11.39,
+      "wrist_pos_err_mm_median": 61.5
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 4684,
+     "mean_hand": 364,
+     "no_body_fit": 37
+    },
+    "observed_fraction": 0.9741,
+    "observed_fraction_of_valid": 0.9764,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 14.22,
+     "smplx": 0.78
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 4.7,
+      "p90": 7.9
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+     "registered": {
+      "median": 5.0,
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+     }
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+    "dev_deg": {
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+     "p90": 53.59
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+    "samples": 2217,
+    "accepted": 1499,
+    "wrist_pos_err_mm_median": 39.0,
+    "per_camera": {
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+      "accepted": 1499,
+      "gate_deg": 30.0,
+      "offset_deg": 30.4,
+      "tier": "primary",
+      "dev_deg_median": 14.84,
+      "wrist_pos_err_mm_median": 39.0
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 6572,
+     "mean_hand": 2682,
+     "no_body_fit": 37
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+    "observed_fraction": 0.8244,
+    "observed_fraction_of_valid": 0.8264,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 35.84,
+     "smplx": 1.63
+    },
+    "hand_marker_to_mesh_mm": {
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+      "median": 11.7,
+      "p90": 25.8
+     },
+     "registered": {
+      "median": 11.7,
+      "p90": 25.2
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:32:52.570676+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/P17/session_014",
   "family": "locomotion_primitives",
   "primitive": "P17",
   "source_session": "20260925/P17/20260925_005717_session10"
+ },
+ "task": {
+  "primitive": "P17",
+  "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal."
  }
 }
diff --git a/actions/locomotion_primitives/P17/session_014/motions/hands_mano.npz b/actions/locomotion_primitives/P17/session_014/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4c51d13bd0fcf81f6b42ba0034981b6d02d98af0
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_014/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f29f4dcd93aeb9d6d06c09bb705a8df96bdcc154e25a5658b0b8efdc8e0d786
+size 3678536
diff --git a/actions/locomotion_primitives/P17/session_014/motions/smplx.npz b/actions/locomotion_primitives/P17/session_014/motions/smplx.npz
index 339a85cba98e48719c728e4e109fc6393e4ed27d..ad1407bc8904c26ee0c6a5a79831090fdab4a577 100644
--- a/actions/locomotion_primitives/P17/session_014/motions/smplx.npz
+++ b/actions/locomotion_primitives/P17/session_014/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 5961193
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diff --git a/actions/locomotion_primitives/P17/session_015/annotations.json b/actions/locomotion_primitives/P17/session_015/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dd97503d583bd324e1178990d1d42a6cc24cd18
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_015/annotations.json
@@ -0,0 +1,149 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P17",
+ "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal.",
+ "segments": [
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+   "video": "left_eye",
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+  }
+ ],
+ "episodes": [
+  {
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+   "segment": "segment1",
+   "action": "P17",
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+   "end_s": 8.192,
+   "t_start": 1.3756,
+   "t_end": 8.2316,
+   "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P17",
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P17/session_015/cameras/slam.npz b/actions/locomotion_primitives/P17/session_015/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3f8bb07ab1f4466061f99830fbd58494ef49c6f7
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_015/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1055bda16aeda1460f0f60ef1567dc23b15528e7aa5d76bb73c47dfd39ce6ab4
+size 742797
diff --git a/actions/locomotion_primitives/P17/session_015/meta.json b/actions/locomotion_primitives/P17/session_015/meta.json
index 1528a5388c614d85d234f15508d3d71aef971009..eabb445636166e68bd615a169673e931394b4851 100644
--- a/actions/locomotion_primitives/P17/session_015/meta.json
+++ b/actions/locomotion_primitives/P17/session_015/meta.json
@@ -324,8 +324,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -507,10 +507,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.1337195010820338
  },
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+    "accepted": 973,
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+    "per_camera": {
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+      "tier": "primary",
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:29:43.060764+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/P17/session_015",
   "family": "locomotion_primitives",
   "primitive": "P17",
   "source_session": "20260928/P17/20260928_092309_session55"
+ },
+ "task": {
+  "primitive": "P17",
+  "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal."
  }
 }
diff --git a/actions/locomotion_primitives/P17/session_015/motions/hands_mano.npz b/actions/locomotion_primitives/P17/session_015/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..13e53929249c4d5549c423622aaff7dc2f91df92
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_015/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5985f94f20cb50e9cbee478fb5dcc8c491cca64a097269140299fba74390ba88
+size 1610966
diff --git a/actions/locomotion_primitives/P17/session_015/motions/smplx.npz b/actions/locomotion_primitives/P17/session_015/motions/smplx.npz
index f8476042f657350572e5c237dba4c0e1232efe48..800195738d8af478bc8c0d2487149df39ff5dc15 100644
--- a/actions/locomotion_primitives/P17/session_015/motions/smplx.npz
+++ b/actions/locomotion_primitives/P17/session_015/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 5949746
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diff --git a/actions/locomotion_primitives/P17/session_016/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P17/session_016/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1a6aa2349583f2d32888f3c7fdd30bdd56d0375
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_016/cameras/gsi_online_calibration.json
@@ -0,0 +1,264 @@
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+    "right_front",
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+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
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+  }
+ },
+ "input_fingerprint": "746b831e85fd3e15",
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+  "right_front-right_eye": 0.704
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+ "picture_change": {
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+  "right_eye": 37.294,
+  "right_front": 36.853
+ },
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+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P17/session_016/cameras/slam.npz b/actions/locomotion_primitives/P17/session_016/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5701c19889c629f246376e7d0893ba200b4027ad
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_016/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:728f7d23f5b00dac3d9ba30e2eb5a1dcbd14a10452094b0a813cf310498b5f0d
+size 441872
diff --git a/actions/locomotion_primitives/P17/session_016/meta.json b/actions/locomotion_primitives/P17/session_016/meta.json
index 94867ef0a33f4ef237ae07141e329cb4f5890b25..0bb99b454c0f84f00629b834fccec489a69057be 100644
--- a/actions/locomotion_primitives/P17/session_016/meta.json
+++ b/actions/locomotion_primitives/P17/session_016/meta.json
@@ -367,8 +367,8 @@
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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,
+   "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 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
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+     -0.1864,
+     0.1096
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+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P17/session_016",
   "family": "locomotion_primitives",
   "primitive": "P17",
   "source_session": "20261019/P17/20261019_052841_session12"
+ },
+ "task": {
+  "primitive": "P17",
+  "instruction": "Walk normally; turn left/right while slowing; after turn accelerate back to normal."
  }
 }
diff --git a/actions/locomotion_primitives/P17/session_016/motions/hands_mano.npz b/actions/locomotion_primitives/P17/session_016/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ae25cb3dc2e6e94d97960ee4049840fc68bad907
--- /dev/null
+++ b/actions/locomotion_primitives/P17/session_016/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 2847421
diff --git a/actions/locomotion_primitives/P17/session_016/motions/smplx.npz b/actions/locomotion_primitives/P17/session_016/motions/smplx.npz
index 530b1a7e2364ce59bce46e6969aff10b338f5cd9..553b95bc463c44d968aacb80a29c000c79b0a020 100644
--- a/actions/locomotion_primitives/P17/session_016/motions/smplx.npz
+++ b/actions/locomotion_primitives/P17/session_016/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 3531742
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diff --git a/actions/locomotion_primitives/P18/session_001/annotations.json b/actions/locomotion_primitives/P18/session_001/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae172948113d95e2aa96e22dd9f3e6b44bd8520d
--- /dev/null
+++ b/actions/locomotion_primitives/P18/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": "P18",
+ "instruction": "Walk; stop fully; turn 90° left/right while standing; walk new direction.",
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+   "instruction": "Walk; stop fully; turn 90° left/right while standing; walk new direction."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P18/session_001/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P18/session_001/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..c514cf2328ce24465b46244699319008a91e43f9
--- /dev/null
+++ b/actions/locomotion_primitives/P18/session_001/cameras/gsi_online_calibration.json
@@ -0,0 +1,263 @@
+{
+ "camera_fit": {
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+   {
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+    "median_px": 35.55,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
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+  "median_px": 0.339
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+   "held_out_px_before": 7.841,
+   "inliers": 2072,
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+    0.807,
+    0.4331
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+   "split_deg": 0.1296,
+   "usable": true
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+    "left_front",
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+    "right_eye",
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+    "left_eye",
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+   "against": [
+    "left_front",
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+    "left_eye",
+    "left",
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+  },
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+   "accepted": true,
+   "against": [
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+    "right_eye",
+    "left",
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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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+   "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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+  }
+ },
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+ "kind": "online_calibration",
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+  "right_front-right_eye": 0.724
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+ "picture_change": {
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+  "right_eye": 35.947,
+  "right_front": 40.235
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+ "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/P18/session_001/cameras/slam.npz b/actions/locomotion_primitives/P18/session_001/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a0e07af01392ab1bb2ce4472138e285a526c7450
--- /dev/null
+++ b/actions/locomotion_primitives/P18/session_001/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edd88ca67761febb8bfbf7360c3bb79fcf53c80ec8b00cc63c92a0d842189953
+size 654153
diff --git a/actions/locomotion_primitives/P18/session_001/meta.json b/actions/locomotion_primitives/P18/session_001/meta.json
index a66b040b82066eb2dfcdb6f18401cd1d4000c3bf..23d71618389656af853dec8312669681f1b972ce 100644
--- a/actions/locomotion_primitives/P18/session_001/meta.json
+++ b/actions/locomotion_primitives/P18/session_001/meta.json
@@ -346,8 +346,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -537,10 +537,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 14.17,
+    "offset_rotvec": [
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+     -0.2214,
+     -0.0472
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+    "dev_deg": {
+     "median": 7.75,
+     "p90": 17.68
+    },
+    "samples": 3144,
+    "accepted": 3071,
+    "wrist_pos_err_mm_median": 52.7,
+    "per_camera": {
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+      "accepted": 3071,
+      "gate_deg": 30.0,
+      "offset_deg": 14.17,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 52.7
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 1142,
+     "mean_hand": 128,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9906,
+    "observed_fraction_of_valid": 0.9906,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.41,
+     "smplx": 0.63
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.0,
+      "p90": 8.6
+     },
+     "registered": {
+      "median": 9.1,
+      "p90": 10.0
+     }
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+     "p90": 15.31
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+    "accepted": 2977,
+    "wrist_pos_err_mm_median": 40.3,
+    "per_camera": {
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+      "offset_deg": 9.32,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 40.3
+     }
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+     "interpolated": 1526,
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+    "observed_fraction_of_valid": 0.9906,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.78
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.4,
+      "p90": 10.0
+     },
+     "registered": {
+      "median": 7.8,
+      "p90": 9.9
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:32:59.622611+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P18/session_001",
   "family": "locomotion_primitives",
   "primitive": "P18",
   "source_session": "20260828/P18/20260828_070539_session30"
+ },
+ "task": {
+  "primitive": "P18",
+  "instruction": "Walk; stop fully; turn 90\u00b0 left/right while standing; walk new direction."
  }
 }
diff --git a/actions/locomotion_primitives/P18/session_001/motions/hands_mano.npz b/actions/locomotion_primitives/P18/session_001/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6255c79d6ad98444b7e67d6597ef1f6e2650578e
--- /dev/null
+++ b/actions/locomotion_primitives/P18/session_001/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2b72e9f0ec283efa07de5d76f4ab9357cbca384143a30bc3e6c1fc8ec2e0b07
+size 4168302
diff --git a/actions/locomotion_primitives/P18/session_001/motions/smplx.npz b/actions/locomotion_primitives/P18/session_001/motions/smplx.npz
index 72d45190bc0ff7dada6b95999961c7a5b9690670..04d23ca8ff95e254cdf711f10e76f3b3944f6726 100644
--- a/actions/locomotion_primitives/P18/session_001/motions/smplx.npz
+++ b/actions/locomotion_primitives/P18/session_001/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:de7c29d1140d728c33c674eb4040247b5c47deb0be459189c83f338f85959e83
-size 5238621
+oid sha256:05fede1773af022454daa0c6846f755f744bef1795ae942d2eaa5be420d40259
+size 9808259
diff --git a/actions/locomotion_primitives/P18/session_002/annotations.json b/actions/locomotion_primitives/P18/session_002/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..df8260e0bc237c54d903a61b59cb97710498bcd8
--- /dev/null
+++ b/actions/locomotion_primitives/P18/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": "P18",
+ "instruction": "Walk; stop fully; turn 90° left/right while standing; walk new direction.",
+ "segments": [
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+   "video": "left_eye",
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+  }
+ ],
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+  },
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+   "t_end": 92.0166,
+   "instruction": "Walk; stop fully; turn 90° left/right while standing; walk new direction."
+  },
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+   "t_end": 101.2996,
+   "instruction": "Walk; stop fully; turn 90° left/right while standing; walk new direction."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P18/session_002/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P18/session_002/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1744251cbc9a9df9e83366f6d5b6fec6ac7101
--- /dev/null
+++ b/actions/locomotion_primitives/P18/session_002/cameras/gsi_online_calibration.json
@@ -0,0 +1,265 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 121,
+    "median_px": 638.05,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.352
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.927,
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+   "held_out_px_before": 8.02,
+   "inliers": 2113,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.0217,
+    0.8135,
+    0.4438
+   ],
+   "split_deg": 0.0907,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
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+   "position_fitted": true,
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+    6.85,
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+    0.6952,
+    -0.8492
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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"
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+   "rotvec_deg": [
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+   "usable": true
+  },
+  "right_eye": {
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+   "against": [
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+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
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+   "inliers": 3335,
+   "position_fitted": true,
+   "position_mm": [
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+    7.71,
+    8.24
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+    0.2243,
+    0.3706,
+    -0.685
+   ],
+   "split_deg": 0.0825,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+   "inliers": 4014,
+   "position_fitted": false,
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+    0.5607,
+    -1.8377
+   ],
+   "split_deg": 0.0245,
+   "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": "8af983be28ae43211aef9dfc17e2c8969f1cf785e1b9fcf1aa43d3651fd88b87",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "6b6059acf4d043a08478cbba5a8517fd6a2eaad5da75a23e4aee067278219892",
+   "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": "2c290c246165fe67755738048d14737acca3f207cf03b46de0de23b1277c3384",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "d4881b30c9e8fc85",
+ "kind": "online_calibration",
+ "output_sha256": "75cb130b3304753ace88b0fe4b1b4791aa8034fb01246fa21a4815f0e6a2f13d",
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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_front": 39.381,
+  "right": 38.996,
+  "right_eye": 37.571,
+  "right_front": 39.47
+ },
+ "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/P18/session_002/cameras/slam.npz b/actions/locomotion_primitives/P18/session_002/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6c18de56c9e392fd86f1c368b01c9fb8e47df7d6
--- /dev/null
+++ b/actions/locomotion_primitives/P18/session_002/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bb04cf27dbd323c8a07c470e1d4e339c6877929743d201912898c5ad8732f8d
+size 596633
diff --git a/actions/locomotion_primitives/P18/session_002/meta.json b/actions/locomotion_primitives/P18/session_002/meta.json
index 06f2d31a9d9b076c40e045d9fcab294c47a2bd5e..1124391e94861cce402168096badeb95a626f097 100644
--- a/actions/locomotion_primitives/P18/session_002/meta.json
+++ b/actions/locomotion_primitives/P18/session_002/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": {
@@ -538,10 +538,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 14.18,
+    "offset_rotvec": [
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+     -0.2149,
+     -0.046
+    ],
+    "dev_deg": {
+     "median": 7.9,
+     "p90": 17.37
+    },
+    "samples": 2906,
+    "accepted": 2827,
+    "wrist_pos_err_mm_median": 48.9,
+    "per_camera": {
+     "head": {
+      "samples": 2906,
+      "accepted": 2827,
+      "gate_deg": 30.0,
+      "offset_deg": 14.18,
+      "tier": "primary",
+      "dev_deg_median": 7.9,
+      "wrist_pos_err_mm_median": 48.9
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 934,
+     "mean_hand": 132,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9894,
+    "observed_fraction_of_valid": 0.9894,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.31,
+     "smplx": 0.55
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.6,
+      "p90": 8.1
+     },
+     "registered": {
+      "median": 7.6,
+      "p90": 9.3
+     }
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+     -0.0844,
+     0.1259
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+     "median": 6.16,
+     "p90": 17.98
+    },
+    "samples": 2643,
+    "accepted": 2563,
+    "wrist_pos_err_mm_median": 37.3,
+    "per_camera": {
+     "head": {
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+      "accepted": 2563,
+      "gate_deg": 30.0,
+      "offset_deg": 9.68,
+      "tier": "primary",
+      "dev_deg_median": 6.16,
+      "wrist_pos_err_mm_median": 37.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10382,
+     "interpolated": 1822,
+     "mean_hand": 280,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9776,
+    "observed_fraction_of_valid": 0.9776,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.77
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 5.5
+     },
+     "registered": {
+      "median": 5.5,
+      "p90": 7.1
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:32:58.325238+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P18/session_002",
   "family": "locomotion_primitives",
   "primitive": "P18",
   "source_session": "20260828/P18/20260828_070742_session31"
+ },
+ "task": {
+  "primitive": "P18",
+  "instruction": "Walk; stop fully; turn 90\u00b0 left/right while standing; walk new direction."
  }
 }
diff --git a/actions/locomotion_primitives/P18/session_002/motions/hands_mano.npz b/actions/locomotion_primitives/P18/session_002/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e5252153436b2d0444b25c0f21cb17e626fc2d8e
--- /dev/null
+++ b/actions/locomotion_primitives/P18/session_002/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a19f30f4e744136cb70680646989017f56de5baf07d4e82c7d0e38156dc28c14
+size 3738088
diff --git a/actions/locomotion_primitives/P18/session_002/motions/smplx.npz b/actions/locomotion_primitives/P18/session_002/motions/smplx.npz
index 6c19eaf94829636a240b73ad7e1bac3cbf46fef4..68a0eb622a9be84d2631003181075cddce42e789 100644
--- a/actions/locomotion_primitives/P18/session_002/motions/smplx.npz
+++ b/actions/locomotion_primitives/P18/session_002/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c6ffd2f5ad99722693a06c408c6512362583b498cd99ce58333beaca607efb3c
-size 4774999
+oid sha256:6c63a11c812bfdffc05cc537f0ca5320a0b5ec009412a70b13919dbbf2826c88
+size 8926092
diff --git a/actions/locomotion_primitives/P18/session_003/annotations.json b/actions/locomotion_primitives/P18/session_003/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..998f6203e27d53d0e58c5e4358f12e52c62173e7
--- /dev/null
+++ b/actions/locomotion_primitives/P18/session_003/annotations.json
@@ -0,0 +1,149 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P18",
+ "instruction": "Walk; stop fully; turn 90° left/right while standing; walk new direction.",
+ "segments": [
+  {
+   "id": "segment1",
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+   "video": "left_eye",
+   "video_t_start": 0.03982154133530824
+  }
+ ],
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+  },
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+  },
+  {
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+   "instruction": "Walk; stop fully; turn 90° left/right while standing; walk new direction."
+  },
+  {
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+   "instruction": "Walk; stop fully; turn 90° left/right while standing; walk new direction."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P18/session_003/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P18/session_003/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..c275fbd9a67fc885a86acb3d07ded02079a8810c
--- /dev/null
+++ b/actions/locomotion_primitives/P18/session_003/cameras/gsi_online_calibration.json
@@ -0,0 +1,264 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 212,
+    "median_px": 17.75,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.333
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+   "inliers": 2689,
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+    0.1447,
+    -0.1118
+   ],
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+   "usable": true
+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
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+   ],
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+    9.58,
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+    0.3738,
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+   "usable": true
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+  "left_front": {
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+  },
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+   "against": [
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+    "right_front",
+    "left_eye",
+    "right_eye"
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+   "rotvec_deg": [
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+    -0.5086,
+    0.1319
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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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+   "position_mm": [
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+    10.94,
+    14.56
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+    -0.1398,
+    -0.6471
+   ],
+   "split_deg": 0.0353,
+   "usable": true
+  },
+  "right_front": {
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+   "against": [
+    "left_front",
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+    "right_eye",
+    "left",
+    "right"
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+   "position_fitted": false,
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+  }
+ },
+ "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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+ "input_fingerprint": "830f4e4827828d47",
+ "kind": "online_calibration",
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+  "right_front-left_eye": 0.711,
+  "right_front-right": 0.463,
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+  "right_eye": 36.362,
+  "right_front": 41.976
+ },
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+  "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/P18/session_003/cameras/slam.npz b/actions/locomotion_primitives/P18/session_003/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f48d4dda6a2b73b0ec75f9b5b0222a53f45dfe4f
--- /dev/null
+++ b/actions/locomotion_primitives/P18/session_003/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcfbbfd3d217b6d3668725d44f49537b17988933a6473735572b11fe6d36aa6c
+size 682695
diff --git a/actions/locomotion_primitives/P18/session_003/meta.json b/actions/locomotion_primitives/P18/session_003/meta.json
index a062e0d87fa5034bf4ae9ea778d10d0b00213763..a1bf13d89d94ae1a7dafd3137220e9d9aed3d6ef 100644
--- a/actions/locomotion_primitives/P18/session_003/meta.json
+++ b/actions/locomotion_primitives/P18/session_003/meta.json
@@ -324,8 +324,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -505,10 +505,124 @@
   "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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+     -0.1811,
+     -0.038
+    ],
+    "dev_deg": {
+     "median": 6.92,
+     "p90": 16.9
+    },
+    "samples": 3242,
+    "accepted": 3159,
+    "wrist_pos_err_mm_median": 58.7,
+    "per_camera": {
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+      "samples": 3242,
+      "accepted": 3159,
+      "gate_deg": 30.0,
+      "offset_deg": 12.1,
+      "tier": "primary",
+      "dev_deg_median": 6.92,
+      "wrist_pos_err_mm_median": 58.7
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 1392,
+     "mean_hand": 5,
+     "no_body_fit": 22
+    },
+    "observed_fraction": 0.9981,
+    "observed_fraction_of_valid": 0.9996,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 9.69,
+     "smplx": 0.98
+    },
+    "hand_marker_to_mesh_mm": {
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+      "median": 10.2,
+      "p90": 11.1
+     },
+     "registered": {
+      "median": 12.3,
+      "p90": 13.9
+     }
+    }
+   },
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+    "offset_rotvec": [
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+     -0.1129,
+     0.1572
+    ],
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+     "median": 8.92,
+     "p90": 25.32
+    },
+    "samples": 2888,
+    "accepted": 2699,
+    "wrist_pos_err_mm_median": 42.3,
+    "per_camera": {
+     "head": {
+      "samples": 2888,
+      "accepted": 2699,
+      "gate_deg": 30.0,
+      "offset_deg": 11.47,
+      "tier": "primary",
+      "dev_deg_median": 8.92,
+      "wrist_pos_err_mm_median": 42.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11096,
+     "interpolated": 3149,
+     "mean_hand": 17,
+     "no_body_fit": 22
+    },
+    "observed_fraction": 0.9973,
+    "observed_fraction_of_valid": 0.9988,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.5,
+     "smplx": 1.02
+    },
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+ },
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   "family": "locomotion_primitives",
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   "source_session": "20260904/P18/20260904_091532_session60"
+ },
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+  "primitive": "P18",
+  "instruction": "Walk; stop fully; turn 90\u00b0 left/right while standing; walk new direction."
  }
 }
diff --git a/actions/locomotion_primitives/P18/session_003/motions/hands_mano.npz b/actions/locomotion_primitives/P18/session_003/motions/hands_mano.npz
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@@ -0,0 +1,3 @@
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+size 4195185
diff --git a/actions/locomotion_primitives/P18/session_003/motions/smplx.npz b/actions/locomotion_primitives/P18/session_003/motions/smplx.npz
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--- a/actions/locomotion_primitives/P18/session_003/motions/smplx.npz
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--- /dev/null
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+{
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+}
diff --git a/actions/locomotion_primitives/P18/session_004/cameras/slam.npz b/actions/locomotion_primitives/P18/session_004/cameras/slam.npz
new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_primitives/P18/session_004/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/P18/session_004/meta.json b/actions/locomotion_primitives/P18/session_004/meta.json
index d026b2c0eda11d0c983da184599f431780547dfe..b57b1a3e13b066726598abee1acac249c8fd9170 100644
--- a/actions/locomotion_primitives/P18/session_004/meta.json
+++ b/actions/locomotion_primitives/P18/session_004/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": {
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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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@@ -507,10 +507,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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  },
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   "family": "locomotion_primitives",
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   "source_session": "20260907/P18/20260907_122427_session232"
+ },
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+  "instruction": "Walk; stop fully; turn 90\u00b0 left/right while standing; walk new direction."
  }
 }
diff --git a/actions/locomotion_primitives/P18/session_004/motions/hands_mano.npz b/actions/locomotion_primitives/P18/session_004/motions/hands_mano.npz
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+}
diff --git a/actions/locomotion_primitives/P18/session_005/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P18/session_005/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba718e28e1ad6a74fc1e3947853c005743495114
--- /dev/null
+++ b/actions/locomotion_primitives/P18/session_005/cameras/gsi_online_calibration.json
@@ -0,0 +1,256 @@
+{
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+  "right_front-right_eye": 0.734
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+  "right_front": 37.732
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+ "version": 1
+}
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diff --git a/actions/locomotion_primitives/P18/session_005/cameras/slam.npz b/actions/locomotion_primitives/P18/session_005/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..68f14c502c147007f63df2fd1c1813b349f475d3
--- /dev/null
+++ b/actions/locomotion_primitives/P18/session_005/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aef3bde01497d33c1abb0f08ea674b16e3572367400462aa6dd57ee2012e5946
+size 740944
diff --git a/actions/locomotion_primitives/P18/session_005/meta.json b/actions/locomotion_primitives/P18/session_005/meta.json
index 316aceff36736db7e9ccd8f4b4b23d52ceeb3002..9dfd15541824a7f9aee5842a288321ef494db05a 100644
--- a/actions/locomotion_primitives/P18/session_005/meta.json
+++ b/actions/locomotion_primitives/P18/session_005/meta.json
@@ -342,8 +342,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -523,10 +523,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.8383505778291462
  },
+ "hands_registration": {
+  "cameras": {},
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+    "offset_rotvec": [
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+     "median": 15.1,
+     "p90": 27.87
+    },
+    "samples": 1940,
+    "accepted": 1782,
+    "wrist_pos_err_mm_median": 74.6,
+    "per_camera": {
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+      "accepted": 1782,
+      "gate_deg": 30.0,
+      "offset_deg": 19.09,
+      "tier": "primary",
+      "dev_deg_median": 15.1,
+      "wrist_pos_err_mm_median": 74.6
+     }
+    },
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+     "interpolated": 4778,
+     "mean_hand": 3352,
+     "no_body_fit": 0
+    },
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+    "observed_fraction_of_valid": 0.7835,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 1.19
+    },
+    "hand_marker_to_mesh_mm": {
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+     "p90": 43.87
+    },
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+    "accepted": 2308,
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+    "per_camera": {
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+      "accepted": 2308,
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+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 105.7
+     }
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+    "observed_fraction_of_valid": 0.9111,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 1.02
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+      "median": 7.7,
+      "p90": 9.1
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T14:59:49.233137+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P18/session_005",
   "family": "locomotion_primitives",
   "primitive": "P18",
   "source_session": "20260908/P18/20260908_014915_session16"
+ },
+ "task": {
+  "primitive": "P18",
+  "instruction": "Walk; stop fully; turn 90\u00b0 left/right while standing; walk new direction."
  }
 }
diff --git a/actions/locomotion_primitives/P18/session_005/motions/hands_mano.npz b/actions/locomotion_primitives/P18/session_005/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a09df08789e13cd278d48c37c8285daf5b045851
--- /dev/null
+++ b/actions/locomotion_primitives/P18/session_005/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad4a7dec782f6a1706ba72fc9d4e534da5a854c6c4db614c0bf790fae877d39b
+size 3461787
diff --git a/actions/locomotion_primitives/P18/session_005/motions/smplx.npz b/actions/locomotion_primitives/P18/session_005/motions/smplx.npz
index dc68ed469911f6e6830452cafbb65bdfa00f203d..f1dddf5c0ff4e25764a0df76ee9396fdae06616b 100644
--- a/actions/locomotion_primitives/P18/session_005/motions/smplx.npz
+++ b/actions/locomotion_primitives/P18/session_005/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 5950504
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new file mode 100644
index 0000000000000000000000000000000000000000..6a867e66cbbb7ec1d6ca3365113a0ac5c6fe7649
--- /dev/null
+++ b/actions/locomotion_primitives/P18/session_006/annotations.json
@@ -0,0 +1,149 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P18",
+ "instruction": "Walk; stop fully; turn 90° left/right while standing; walk new direction.",
+ "segments": [
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+   "video": "left_eye",
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+  }
+ ],
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+ ]
+}
diff --git a/actions/locomotion_primitives/P18/session_006/cameras/slam.npz b/actions/locomotion_primitives/P18/session_006/cameras/slam.npz
new file mode 100644
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--- /dev/null
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index 1b13bcbbc4e0828d1f6944e4073581623001db44..11410b84cffa652953b3923b6e9da8a23014ddd2 100644
--- a/actions/locomotion_primitives/P18/session_006/meta.json
+++ b/actions/locomotion_primitives/P18/session_006/meta.json
@@ -326,8 +326,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -507,10 +507,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.393862426059993
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     0.1953,
+     -0.2802,
+     0.1029
+    ],
+    "dev_deg": {
+     "median": 20.72,
+     "p90": 36.28
+    },
+    "samples": 2590,
+    "accepted": 2065,
+    "wrist_pos_err_mm_median": 167.0,
+    "per_camera": {
+     "head": {
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+      "accepted": 2065,
+      "gate_deg": 30.0,
+      "offset_deg": 20.44,
+      "tier": "primary",
+      "dev_deg_median": 20.72,
+      "wrist_pos_err_mm_median": 167.0
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 9498,
+     "mean_hand": 881,
+     "no_body_fit": 3
+    },
+    "observed_fraction": 0.9537,
+    "observed_fraction_of_valid": 0.9538,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 27.0,
+     "smplx": 0.69
+    },
+    "hand_marker_to_mesh_mm": {
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+      "median": 6.9,
+      "p90": 7.7
+     },
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+      "p90": 7.7
+     }
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+    "offset_rotvec": [
+     0.0798,
+     0.3395,
+     0.1843
+    ],
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+     "p90": 38.6
+    },
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+    "accepted": 1609,
+    "wrist_pos_err_mm_median": 179.6,
+    "per_camera": {
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+      "accepted": 1609,
+      "gate_deg": 30.0,
+      "offset_deg": 22.6,
+      "tier": "primary",
+      "dev_deg_median": 24.71,
+      "wrist_pos_err_mm_median": 179.6
+     }
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+     "no_body_fit": 3
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+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.47
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+      "p90": 7.8
+     }
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T15:00:01.229657+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P18/session_006",
   "family": "locomotion_primitives",
   "primitive": "P18",
   "source_session": "20260908/P18/20260908_072904_session68"
+ },
+ "task": {
+  "primitive": "P18",
+  "instruction": "Walk; stop fully; turn 90\u00b0 left/right while standing; walk new direction."
  }
 }
diff --git a/actions/locomotion_primitives/P18/session_006/motions/hands_mano.npz b/actions/locomotion_primitives/P18/session_006/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8f54ec1d6f20fab55dfb7cb9a7b66fdf7931fb86
--- /dev/null
+++ b/actions/locomotion_primitives/P18/session_006/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3452532
diff --git a/actions/locomotion_primitives/P18/session_006/motions/smplx.npz b/actions/locomotion_primitives/P18/session_006/motions/smplx.npz
index b1f90bd8330afc58516ecefb9c766c94bdb58cdc..8782049d2b6617ab6afd4eb51b5e421ff59e06df 100644
--- a/actions/locomotion_primitives/P18/session_006/motions/smplx.npz
+++ b/actions/locomotion_primitives/P18/session_006/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 7352967
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diff --git a/actions/locomotion_primitives/P18/session_007/annotations.json b/actions/locomotion_primitives/P18/session_007/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..69ba9ff1d3a1e95a954f1c1e3b909df728bb722a
--- /dev/null
+++ b/actions/locomotion_primitives/P18/session_007/annotations.json
@@ -0,0 +1,171 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P18",
+ "instruction": "Walk; stop fully; turn 90° left/right while standing; walk new direction.",
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+   "video": "left_eye",
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+  }
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+ ]
+}
diff --git a/actions/locomotion_primitives/P18/session_007/cameras/slam.npz b/actions/locomotion_primitives/P18/session_007/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8e397f39074b57520506e783006371716067c010
--- /dev/null
+++ b/actions/locomotion_primitives/P18/session_007/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/actions/locomotion_primitives/P18/session_007/meta.json b/actions/locomotion_primitives/P18/session_007/meta.json
index 8b028e5168e47a4c06a2da015e8fb4bdade36ad7..fd5794cf813efaaea4d4bbc19e022aeaf7e592c9 100644
--- a/actions/locomotion_primitives/P18/session_007/meta.json
+++ b/actions/locomotion_primitives/P18/session_007/meta.json
@@ -340,8 +340,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -527,10 +527,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.7101598032545133
  },
+ "hands_registration": {
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+     "p90": 33.34
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+    "accepted": 1443,
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+    "per_camera": {
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+      "offset_deg": 32.94,
+      "tier": "primary",
+      "dev_deg_median": 15.47,
+      "wrist_pos_err_mm_median": 162.4
+     }
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+    "palm_axis_vs_markers_deg": {
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+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
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   "family": "locomotion_primitives",
   "primitive": "P18",
   "source_session": "20260912/P18/20260912_020853_session14"
+ },
+ "task": {
+  "primitive": "P18",
+  "instruction": "Walk; stop fully; turn 90\u00b0 left/right while standing; walk new direction."
  }
 }
diff --git a/actions/locomotion_primitives/P18/session_007/motions/hands_mano.npz b/actions/locomotion_primitives/P18/session_007/motions/hands_mano.npz
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diff --git a/actions/locomotion_primitives/P18/session_008/annotations.json b/actions/locomotion_primitives/P18/session_008/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7afe265e8f04df6eb93b8f7cbd918a567938cb6
--- /dev/null
+++ b/actions/locomotion_primitives/P18/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",
+ "primitive": "P18",
+ "instruction": "Walk; stop fully; turn 90° left/right while standing; walk new direction.",
+ "segments": [
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+   "video": "left_eye",
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+  }
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P18/session_008/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P18/session_008/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..94cfc30b8a6997a8036a730378b8a436cc42ce0b
--- /dev/null
+++ b/actions/locomotion_primitives/P18/session_008/cameras/gsi_online_calibration.json
@@ -0,0 +1,257 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.367
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.7828,
+   "gate_fail": [],
+   "held_out_px_after": 0.514,
+   "held_out_px_before": 3.245,
+   "inliers": 2650,
+   "position_fitted": false,
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+    0.4349,
+    -0.2666,
+    -0.5937
+   ],
+   "split_deg": 0.0282,
+   "usable": true
+  },
+  "left_eye": {
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+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9215,
+   "gate_fail": [],
+   "held_out_px_after": 0.392,
+   "held_out_px_before": 6.846,
+   "inliers": 3833,
+   "position_fitted": true,
+   "position_mm": [
+    3.91,
+    -9.54,
+    4.22
+   ],
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+   "position_split_mm": 2.356,
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+    0.2439,
+    0.5773,
+    -1.8165
+   ],
+   "split_deg": 0.0355,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+   "inliers": 1517,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.9985,
+    -0.3655,
+    -0.2443
+   ],
+   "split_deg": 0.2709,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
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+   "position_fitted": true,
+   "position_mm": [
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+    -8.06,
+    1.96
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+   "position_split_mm": 3.668,
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+    0.437,
+    -0.4702,
+    -0.4646
+   ],
+   "split_deg": 0.0335,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+   "held_out_px_before": 4.679,
+   "inliers": 4357,
+   "position_fitted": false,
+   "rotvec_deg": [
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+    -0.0049,
+    -1.3008
+   ],
+   "split_deg": 0.0134,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "3537b81b9c3476f8f4cab1b3fb0e97fd205b54ec6855bf99a6046f8d8700dbef",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "a7c4938b5ca6cd8c4b1defa01438185f69bb0c1102a7fcb5d1896385757e0992",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
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+   "sha256": "8fdf699593395b547d109076c6bad90091f0951bf4f6553859960f622ac6204d",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "ac8b5d9790bba462",
+ "kind": "online_calibration",
+ "output_sha256": "65036ac236a6e702e3ed52ba80c0c1d434bbce6341642566a8e9078390488148",
+ "overlap": {
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+  "left_eye-left": 0.707,
+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 33.202,
+  "left_eye": 32.286,
+  "left_front": 38.126,
+  "right": 37.188,
+  "right_eye": 32.15,
+  "right_front": 37.129
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
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+   5730910429888
+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P18/session_008/cameras/slam.npz b/actions/locomotion_primitives/P18/session_008/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ffd09f962084a56545a4dd432f513501205ea1eb
--- /dev/null
+++ b/actions/locomotion_primitives/P18/session_008/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07050a550018e5e3e42aa31a37d30bbd93eaff1e15e0333a6c0f3bca54e354a7
+size 940550
diff --git a/actions/locomotion_primitives/P18/session_008/meta.json b/actions/locomotion_primitives/P18/session_008/meta.json
index e19ad37313e6673451a88340e17ad36a852fc823..b03ff598aae612ec6f19bd060b4117de5f5f2c90 100644
--- a/actions/locomotion_primitives/P18/session_008/meta.json
+++ b/actions/locomotion_primitives/P18/session_008/meta.json
@@ -329,8 +329,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -520,10 +520,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.7768509519932714
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     -0.0505,
+     -0.2087,
+     -0.0975
+    ],
+    "dev_deg": {
+     "median": 13.56,
+     "p90": 29.37
+    },
+    "samples": 3743,
+    "accepted": 3382,
+    "wrist_pos_err_mm_median": 60.8,
+    "per_camera": {
+     "head": {
+      "samples": 3743,
+      "accepted": 3382,
+      "gate_deg": 30.0,
+      "offset_deg": 13.51,
+      "tier": "primary",
+      "dev_deg_median": 13.56,
+      "wrist_pos_err_mm_median": 60.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13831,
+     "interpolated": 5624,
+     "mean_hand": 221,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9884,
+    "observed_fraction_of_valid": 0.9888,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 14.54,
+     "smplx": 0.4
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.6,
+      "p90": 12.4
+     },
+     "registered": {
+      "median": 8.9,
+      "p90": 11.9
+     }
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+   },
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+    "offset_rotvec": [
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+     0.0541,
+     -0.1153
+    ],
+    "dev_deg": {
+     "median": 15.9,
+     "p90": 47.32
+    },
+    "samples": 2876,
+    "accepted": 2076,
+    "wrist_pos_err_mm_median": 87.1,
+    "per_camera": {
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+      "accepted": 2076,
+      "gate_deg": 30.0,
+      "offset_deg": 16.21,
+      "tier": "primary",
+      "dev_deg_median": 15.9,
+      "wrist_pos_err_mm_median": 87.1
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 5746,
+     "mean_hand": 5500,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.7202,
+    "observed_fraction_of_valid": 0.7205,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 19.0,
+     "smplx": 1.21
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 18.3,
+      "p90": 23.5
+     },
+     "registered": {
+      "median": 17.1,
+      "p90": 23.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:29:47.430172+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P18/session_008",
   "family": "locomotion_primitives",
   "primitive": "P18",
   "source_session": "20260912/P18/20260912_074208_session47"
+ },
+ "task": {
+  "primitive": "P18",
+  "instruction": "Walk; stop fully; turn 90\u00b0 left/right while standing; walk new direction."
  }
 }
diff --git a/actions/locomotion_primitives/P18/session_008/motions/hands_mano.npz b/actions/locomotion_primitives/P18/session_008/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6d609265a80dea1c83beb1e022a67907639942ae
--- /dev/null
+++ b/actions/locomotion_primitives/P18/session_008/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e83f94ac086236f97c3f555adcf62c872ba2017e00834122bc1843e33aa29940
+size 4584903
diff --git a/actions/locomotion_primitives/P18/session_008/motions/smplx.npz b/actions/locomotion_primitives/P18/session_008/motions/smplx.npz
index 42eefbd6ea0937fcece4330caef6fd97a2e77cd2..3d3b0faafebcd7d0b963a13fd61c1b14d94f1134 100644
--- a/actions/locomotion_primitives/P18/session_008/motions/smplx.npz
+++ b/actions/locomotion_primitives/P18/session_008/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d24ae9b6a5fa810f0c47187d9e9e937e2264f0da618c99b34a588fbb94c54caa
-size 7548805
+oid sha256:a1b01b54fa8020fb013dd04a011941a9f07f2ab05363737f5f308787f991408d
+size 13419508
diff --git a/actions/locomotion_primitives/P18/session_009/annotations.json b/actions/locomotion_primitives/P18/session_009/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..171d6a302ea57b74a644feb76cc5dd88def26034
--- /dev/null
+++ b/actions/locomotion_primitives/P18/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": "P18",
+ "instruction": "Walk; stop fully; turn 90° left/right while standing; walk new direction.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 118.966611,
+   "video": "left_eye",
+   "video_t_start": 0.03898092177006962
+  }
+ ],
+ "episodes": [
+  {
+   "id": "ea1a84f0-f45f-41e2-a7f1-dbd74576702c",
+   "segment": "segment1",
+   "action": "P18",
+   "quality": "valid",
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+   "end_s": 9.365,
+   "t_start": 1.246,
+   "t_end": 9.404,
+   "instruction": "Walk; stop fully; turn 90° left/right while standing; walk new direction."
+  },
+  {
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+   "t_start": 10.814,
+   "t_end": 19.341,
+   "instruction": "Walk; stop fully; turn 90° left/right while standing; walk new direction."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P18",
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+   "instruction": "Walk; stop fully; turn 90° left/right while standing; walk new direction."
+  },
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+  },
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+   "instruction": "Walk; stop fully; turn 90° left/right while standing; walk new direction."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P18/session_009/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P18/session_009/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..19cfd46b7a00567ec6f5fcbc4551ec2f9e57d0d7
--- /dev/null
+++ b/actions/locomotion_primitives/P18/session_009/cameras/gsi_online_calibration.json
@@ -0,0 +1,256 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.339
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.0513,
+   "gate_fail": [],
+   "held_out_px_after": 0.487,
+   "held_out_px_before": 4.399,
+   "inliers": 2407,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.4704,
+    -0.2851,
+    -0.8959
+   ],
+   "split_deg": 0.0244,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.742,
+   "gate_fail": [],
+   "held_out_px_after": 0.343,
+   "held_out_px_before": 4.854,
+   "inliers": 4108,
+   "position_fitted": true,
+   "position_mm": [
+    3.08,
+    -6.95,
+    7.73
+   ],
+   "position_sigma_mm": 0.382,
+   "position_split_mm": 2.635,
+   "rotvec_deg": [
+    0.1405,
+    0.5936,
+    -1.6317
+   ],
+   "split_deg": 0.0992,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.3895,
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+   "held_out_px_before": 4.477,
+   "inliers": 2188,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.3653,
+    -0.1476,
+    0.2115
+   ],
+   "split_deg": 0.1018,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.6839,
+   "gate_fail": [],
+   "held_out_px_after": 0.341,
+   "held_out_px_before": 3.569,
+   "inliers": 4275,
+   "position_fitted": true,
+   "position_mm": [
+    9.44,
+    -9.18,
+    6.92
+   ],
+   "position_sigma_mm": 0.37,
+   "position_split_mm": 3.944,
+   "rotvec_deg": [
+    0.3336,
+    -0.5029,
+    -0.3216
+   ],
+   "split_deg": 0.1231,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.3564,
+   "gate_fail": [],
+   "held_out_px_after": 0.313,
+   "held_out_px_before": 4.524,
+   "inliers": 5456,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3865,
+    -0.0022,
+    -1.3002
+   ],
+   "split_deg": 0.0064,
+   "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": "49ee79aa3019554c2eece1736379712cf1476ef5ef9ad75d028d7d020ddaf36c",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "9896f6368475b7601930b74647052ecb16bd184517f9b1c4e53c03ad2ff272fb",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "618b66aaaaeb0817e7abf1ea2760e0130d4e77e18fcdd2309c9b4d15f5340545",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "5d990463ee71327f0177c9a496369e23c6d8894d697214c140e6bf12687442c7",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "b879d90fc3635fcd",
+ "kind": "online_calibration",
+ "output_sha256": "504284fbf9c5167f2939048ccf0080657fc52eedf98f01aee13911cd82226907",
+ "overlap": {
+  "left-right": 0.501,
+  "left_eye-left": 0.707,
+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 32.743,
+  "left_eye": 30.46,
+  "left_front": 38.843,
+  "right": 37.077,
+  "right_eye": 29.178,
+  "right_front": 37.734
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   6596898824666,
+   6597898824666,
+   6600898913555,
+   6601898880222,
+   6606898869111,
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+   6671898835777,
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+   6675898924666,
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+   6699898869111,
+   6704898869111,
+   6705898880222,
+   6706898869111
+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P18/session_009/cameras/slam.npz b/actions/locomotion_primitives/P18/session_009/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e7bf8965584e25cda5eade3a9eacbf6e9617c407
--- /dev/null
+++ b/actions/locomotion_primitives/P18/session_009/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bdb2bffefd81cb7d9350b5e395c8356c6be06850c989f8ff4df6b4425498a68
+size 686014
diff --git a/actions/locomotion_primitives/P18/session_009/meta.json b/actions/locomotion_primitives/P18/session_009/meta.json
index f66042df732d2b44cc876f257341ade7b5f16b3f..e5b90c4799892193672faaeda325c9313887453c 100644
--- a/actions/locomotion_primitives/P18/session_009/meta.json
+++ b/actions/locomotion_primitives/P18/session_009/meta.json
@@ -329,8 +329,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -509,10 +509,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.319003301147475
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 6.52,
+    "offset_rotvec": [
+     -0.0929,
+     -0.0543,
+     0.037
+    ],
+    "dev_deg": {
+     "median": 11.04,
+     "p90": 20.57
+    },
+    "samples": 3374,
+    "accepted": 3291,
+    "wrist_pos_err_mm_median": 44.8,
+    "per_camera": {
+     "head": {
+      "samples": 3374,
+      "accepted": 3291,
+      "gate_deg": 30.0,
+      "offset_deg": 6.52,
+      "tier": "primary",
+      "dev_deg_median": 11.04,
+      "wrist_pos_err_mm_median": 44.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13292,
+     "interpolated": 980,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9992,
+    "observed_fraction_of_valid": 0.9992,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.16,
+     "smplx": 0.37
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.2,
+      "p90": 8.3
+     },
+     "registered": {
+      "median": 8.2,
+      "p90": 9.1
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 18.18,
+    "offset_rotvec": [
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+     0.2821,
+     -0.1041
+    ],
+    "dev_deg": {
+     "median": 12.71,
+     "p90": 26.72
+    },
+    "samples": 2797,
+    "accepted": 2609,
+    "wrist_pos_err_mm_median": 71.3,
+    "per_camera": {
+     "head": {
+      "samples": 2797,
+      "accepted": 2609,
+      "gate_deg": 30.0,
+      "offset_deg": 18.18,
+      "tier": "primary",
+      "dev_deg_median": 12.71,
+      "wrist_pos_err_mm_median": 71.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10714,
+     "interpolated": 3358,
+     "mean_hand": 212,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9852,
+    "observed_fraction_of_valid": 0.9852,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 19.38,
+     "smplx": 0.24
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.4,
+      "p90": 8.0
+     },
+     "registered": {
+      "median": 7.3,
+      "p90": 8.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T23:03:32.719685+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P18/session_009",
   "family": "locomotion_primitives",
   "primitive": "P18",
   "source_session": "20260917/P18/20260917_021409_session19"
+ },
+ "task": {
+  "primitive": "P18",
+  "instruction": "Walk; stop fully; turn 90\u00b0 left/right while standing; walk new direction."
  }
 }
diff --git a/actions/locomotion_primitives/P18/session_009/motions/hands_mano.npz b/actions/locomotion_primitives/P18/session_009/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0555ae1c1bf1b3a46bb235f475ef0b148d1be216
--- /dev/null
+++ b/actions/locomotion_primitives/P18/session_009/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a533a6300070c802dbae8396b038cdc35abeecabbc5825bd28c836bd2d55b189
+size 4203279
diff --git a/actions/locomotion_primitives/P18/session_009/motions/smplx.npz b/actions/locomotion_primitives/P18/session_009/motions/smplx.npz
index d6a5081c4c981136c686de03717ac91986d81b57..a19dc7fb69ec67b420104b39944e79b1749b2ffb 100644
--- a/actions/locomotion_primitives/P18/session_009/motions/smplx.npz
+++ b/actions/locomotion_primitives/P18/session_009/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2be22a06e09b16270fa8b5c5b6f960a3a3216a0e474a454bc3637b27d7961158
-size 5495487
+oid sha256:47355c4d639458369011e8d3a7a38be39543acd06a39435294a42a5094b11ebb
+size 10270013
diff --git a/actions/locomotion_primitives/P18/session_010/annotations.json b/actions/locomotion_primitives/P18/session_010/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..c036040711be013fa9bdc21f04e90b326c6ea42d
--- /dev/null
+++ b/actions/locomotion_primitives/P18/session_010/annotations.json
@@ -0,0 +1,149 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P18",
+ "instruction": "Walk; stop fully; turn 90° left/right while standing; walk new direction.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 113.966689,
+   "video": "left_eye",
+   "video_t_start": 0.038938711031231144
+  }
+ ],
+ "episodes": [
+  {
+   "id": "adf55333-bf27-4f03-99e8-d69fba07592f",
+   "segment": "segment1",
+   "action": "P18",
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+   "end_s": 10.239,
+   "t_start": 1.7339,
+   "t_end": 10.2779,
+   "instruction": "Walk; stop fully; turn 90° left/right while standing; walk new direction."
+  },
+  {
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+   "end_s": 18.291,
+   "t_start": 10.5559,
+   "t_end": 18.3299,
+   "instruction": "Walk; stop fully; turn 90° left/right while standing; walk new direction."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P18",
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+   "instruction": "Walk; stop fully; turn 90° left/right while standing; walk new direction."
+  },
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+   "instruction": "Walk; stop fully; turn 90° left/right while standing; walk new direction."
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P18/session_010/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P18/session_010/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..d92ea79cfe81b45ad1db110e0412922a840ceeb2
--- /dev/null
+++ b/actions/locomotion_primitives/P18/session_010/cameras/gsi_online_calibration.json
@@ -0,0 +1,255 @@
+{
+ "camera_fit": {
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+  "groups_used": 14,
+  "median_px": 0.326
+ },
+ "cameras": {
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+   "against": [
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+    "right_front",
+    "left_eye",
+    "right_eye"
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+    -0.6903
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+    -8.68,
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+  },
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+  }
+ },
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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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+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P18/session_010/cameras/slam.npz b/actions/locomotion_primitives/P18/session_010/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b8b16322cbf9ad28137ee367e55d6c58db15049b
--- /dev/null
+++ b/actions/locomotion_primitives/P18/session_010/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a18af80adee2e4de49dbba21df675158014be9ceb23fec0fbd6d7d8e42858862
+size 656483
diff --git a/actions/locomotion_primitives/P18/session_010/meta.json b/actions/locomotion_primitives/P18/session_010/meta.json
index 10ae3f08f61ba665f5932164fde72d27ee0e5b95..e15cee912a0ff96bce413ac865ccc8ced0d2bbf8 100644
--- a/actions/locomotion_primitives/P18/session_010/meta.json
+++ b/actions/locomotion_primitives/P18/session_010/meta.json
@@ -521,5 +521,9 @@
   "family": "locomotion_primitives",
   "primitive": "P18",
   "source_session": "20260917/P18/20260917_075021_session123"
+ },
+ "task": {
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+  "instruction": "Walk; stop fully; turn 90\u00b0 left/right while standing; walk new direction."
  }
 }
diff --git a/actions/locomotion_primitives/P18/session_010/motions/hands_mano.npz b/actions/locomotion_primitives/P18/session_010/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9127e72e3b3d8a6015671619d4769701cc7d78f3
--- /dev/null
+++ b/actions/locomotion_primitives/P18/session_010/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24e9cc56e0f31329ce5ab673a3e7baefc81190528cf7b47da02fff719cfb790c
+size 3789615
diff --git a/actions/locomotion_primitives/P18/session_011/annotations.json b/actions/locomotion_primitives/P18/session_011/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3aeb95d3d6d0812326b02ef4f1249780a2bface
--- /dev/null
+++ b/actions/locomotion_primitives/P18/session_011/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": "P18",
+ "instruction": "Walk; stop fully; turn 90° left/right while standing; walk new direction.",
+ "segments": [
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+   "video": "left_eye",
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+  }
+ ],
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+  },
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+   "instruction": "Walk; stop fully; turn 90° left/right while standing; walk new direction."
+  },
+  {
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P18/session_011/cameras/slam.npz b/actions/locomotion_primitives/P18/session_011/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..27b94833231461176a1ee0556152003394c0f6db
--- /dev/null
+++ b/actions/locomotion_primitives/P18/session_011/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6cd23503cef07ccd903a50c8d440eb6aa1d3c825d3429d1d08869de87d5ed53
+size 684818
diff --git a/actions/locomotion_primitives/P18/session_011/meta.json b/actions/locomotion_primitives/P18/session_011/meta.json
index 814a97a3569c6edbd3f38f0729d2f83a518858fd..b924bea39522da076e496b3ea7e4e4a56326cbeb 100644
--- a/actions/locomotion_primitives/P18/session_011/meta.json
+++ b/actions/locomotion_primitives/P18/session_011/meta.json
@@ -326,8 +326,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
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    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
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@@ -524,10 +524,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.9383689949891952
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     0.2357,
+     -0.1078,
+     -0.14
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+     "median": 10.73,
+     "p90": 20.62
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+    "samples": 2218,
+    "accepted": 2126,
+    "wrist_pos_err_mm_median": 174.2,
+    "per_camera": {
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+      "accepted": 2126,
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+      "offset_deg": 16.88,
+      "tier": "primary",
+      "dev_deg_median": 10.73,
+      "wrist_pos_err_mm_median": 174.2
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 5342,
+     "mean_hand": 156,
+     "no_body_fit": 0
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+    "observed_fraction_of_valid": 0.9891,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 16.48,
+     "smplx": 0.37
+    },
+    "hand_marker_to_mesh_mm": {
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+     },
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+     "p90": 28.17
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+    "accepted": 2407,
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+    "per_camera": {
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+     }
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+     },
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+      "p90": 8.2
+     }
+    }
+   }
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+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
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   "family": "locomotion_primitives",
   "primitive": "P18",
   "source_session": "20260918/P18/20260918_014412_session18"
+ },
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+  "primitive": "P18",
+  "instruction": "Walk; stop fully; turn 90\u00b0 left/right while standing; walk new direction."
  }
 }
diff --git a/actions/locomotion_primitives/P18/session_011/motions/hands_mano.npz b/actions/locomotion_primitives/P18/session_011/motions/hands_mano.npz
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+}
diff --git a/actions/locomotion_primitives/P18/session_012/cameras/slam.npz b/actions/locomotion_primitives/P18/session_012/cameras/slam.npz
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index 0000000000000000000000000000000000000000..3ba8da8c389ee3f2f256fd29bd49073d8bffcba4
--- /dev/null
+++ b/actions/locomotion_primitives/P18/session_012/cameras/slam.npz
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+version https://git-lfs.github.com/spec/v1
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diff --git a/actions/locomotion_primitives/P18/session_012/meta.json b/actions/locomotion_primitives/P18/session_012/meta.json
index 81e8e7cd88471b656e75dd75801a6a427de15b31..c5e07b88006904867ee761843cb9506fbd806aff 100644
--- a/actions/locomotion_primitives/P18/session_012/meta.json
+++ b/actions/locomotion_primitives/P18/session_012/meta.json
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   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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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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@@ -533,10 +533,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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   "family": "locomotion_primitives",
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   "source_session": "20260921/P18/20260921_013244_session16"
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+  "instruction": "Walk; stop fully; turn 90\u00b0 left/right while standing; walk new direction."
  }
 }
diff --git a/actions/locomotion_primitives/P18/session_012/motions/hands_mano.npz b/actions/locomotion_primitives/P18/session_012/motions/hands_mano.npz
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+}
diff --git a/actions/locomotion_primitives/P18/session_013/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P18/session_013/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccd6363cc0f9752dfc8310b58defd9b5e7726407
--- /dev/null
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+    -1.8914
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+ },
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+  },
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+  "right_front-left_eye": 0.723,
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+  "right_front-right_eye": 0.734
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+  "left_front": 31.998,
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+  "right_eye": 28.803,
+  "right_front": 34.912
+ },
+ "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/P18/session_013/cameras/slam.npz b/actions/locomotion_primitives/P18/session_013/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fd0a3710abf2e81d13f3acabbc4319cce44d8b15
--- /dev/null
+++ b/actions/locomotion_primitives/P18/session_013/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:128e844f65e3f0f63134f1cd88142bf45e8f5f28d89655a3fff23c72bf5c4e0d
+size 628576
diff --git a/actions/locomotion_primitives/P18/session_013/meta.json b/actions/locomotion_primitives/P18/session_013/meta.json
index 188046b67575102229bcd60dd84fc5fb04073502..f3df3f152fcd8351627ed5b0a78cb6bbd5f082c2 100644
--- a/actions/locomotion_primitives/P18/session_013/meta.json
+++ b/actions/locomotion_primitives/P18/session_013/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": {
@@ -525,10 +525,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.8293934225574697
  },
+ "hands_registration": {
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+     "p90": 23.13
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+    "accepted": 2658,
+    "wrist_pos_err_mm_median": 55.8,
+    "per_camera": {
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+      "accepted": 2658,
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+      "offset_deg": 12.79,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 55.8
+     }
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+     "interpolated": 2262,
+     "mean_hand": 12,
+     "no_body_fit": 0
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+    "observed_fraction_of_valid": 0.9991,
+    "palm_axis_vs_markers_deg": {
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+      "p90": 22.8
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:46:47.497974+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P18/session_013",
   "family": "locomotion_primitives",
   "primitive": "P18",
   "source_session": "20260921/P18/20260921_032519_session54"
+ },
+ "task": {
+  "primitive": "P18",
+  "instruction": "Walk; stop fully; turn 90\u00b0 left/right while standing; walk new direction."
  }
 }
diff --git a/actions/locomotion_primitives/P18/session_013/motions/hands_mano.npz b/actions/locomotion_primitives/P18/session_013/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..469ce33c3ef3b5481dfa2576c3f158c3cf3a9457
--- /dev/null
+++ b/actions/locomotion_primitives/P18/session_013/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3675272
diff --git a/actions/locomotion_primitives/P18/session_013/motions/smplx.npz b/actions/locomotion_primitives/P18/session_013/motions/smplx.npz
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--- a/actions/locomotion_primitives/P18/session_013/motions/smplx.npz
+++ b/actions/locomotion_primitives/P18/session_013/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 5038472
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diff --git a/actions/locomotion_primitives/P18/session_014/annotations.json b/actions/locomotion_primitives/P18/session_014/annotations.json
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,149 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P18",
+ "instruction": "Walk; stop fully; turn 90° left/right while standing; walk new direction.",
+ "segments": [
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+   "video": "left_eye",
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+  }
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+ ]
+}